Update README.md

.clang-format

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-# Format Style Options - Created with Clang Power Tools
----
-BasedOnStyle: WebKit
-BreakBeforeBraces: Attach
-ColumnLimit: 110
-SortIncludes: false
-SpaceAfterTemplateKeyword: false
-...

.gitignore

@@ -12,4 +12,6 @@ x64**
 **.exe
 .cache**
 tags
-bin/*
+**/bin/**
+**/obj/**
+compile_commands.json

README.md

@@ -0,0 +1,34 @@
+# Overview
+
+LivePlotter is an opengl-based, 3D point plotting DLL. It is designed to be integrated into any project that needs to see 3D points plotted and updated in real time. It supports simple camera controls: rotate, pan, and zoom. Points can be given a "lifetime" during which their opacity will fade. The opacity of these points can be restored by updating their position. The goal here is to create an intuitive representation of sensor readings (where the opacity of the point represents the age of the reading).
+
+This DLL is designed to integrate easily into a C# application. A class that accomplishes this included. See [LivePlotter.cs](./examples/csharp/LivePlotter.cs). Unfortunately the DLL also expects the presence of several other files currently, so you'll need to ensure **EVERYTHING** from the bin/ folder (that contains `LivePlotter.dll`) is in your project's build output directory. 
+
+![til](./demo.gif)
+
+*Please note that this project is still considered a work in progress. The API may change in future revisions*
+
+# Acquiring the DLL
+
+There are two main ways to get the DLL...
+
+## Download from releases (recommended)
+
+Download the DLL from the latest release on the [releases page](https://git.the-embedded-lab.com/shamilton/LivePlotter/releases).
+
+## Build from source (not recommended)
+
+I don't enjoy using Visual Studio and like to manage my own build process. I prefer something simple like a script to build and that's currently what I have.
+
+1. You'll need an installation of MSVC (likely via downloading/installing Visual Studio and then installing the C++ build tools).
+2. Get the source code. `git clone --recurse-submodules https://git.the-embedded-lab.com/shamilton/LivePlotter.git`
+3. Build the glfw library. `cd ext/glfw`. `mkdir build && cd build && cmake ..`. Open GLFW.sln, Change the configuration to "Release, and build the solution.
+4. Find `vcvars64.bat` in your installation and modify the path in [activate.bat](./activate.bat) to point to it.
+5. Open cmd.exe to the root directory of the project
+6. Run `activate`. Then `build release`.
+7. A folder bin/ should exist with `LivePlotter.dll` inside.
+8. Copy the entire contents of the bin folder to your project's build output directory
+
+If issues arise, please feel free to create an issue on this repository.
+
+See the csharp and cpp [example projects](./examples) for details on how to integrate the DLL with your codebase. You must have the project built to run the csharp project (it copies the contents of bin into its output directory).

activate.bat

@@ -1 +1 @@
-"C:\Program Files\Microsoft Visual Studio\2022\Community\VC\Auxiliary\Build\vcvars64.bat" && bash
+"C:\Program Files\Microsoft Visual Studio\2022\Community\VC\Auxiliary\Build\vcvars64.bat"

build.bat

@@ -0,0 +1,12 @@
+@ECHO off
+SET flags=-Od -ZI -MDd
+SET config=Debug
+IF "%1" == "release" (
+    SET flags=-O2 -MD
+    SET config=Release
+)
+SET srcs=src\*
+mkdir bin obj
+cl %srcs% ext\glfw\build\src\%config%\glfw3.lib kernel32.lib user32.lib Gdi32.lib Shell32.lib -I inc -I ext\glm -I ext\glfw\include %flags% -std:c++20 -MP -LD -Fo:obj\\ -Fe:bin\\LivePlotter.dll
+COPY /Y assets\* bin
+COPY /Y assets\shaders\* bin

build.sh

@@ -1,22 +0,0 @@
-(
-    cd bin
-    rm *
-    demo_srcs=../src/demo/*.cpp
-    demo_srcs+=" ../src/util.cpp"
-    plotter_srcs=../src/*.cpp
-    glad_src=../src/glad.c
-    glfw_lib=../ext/glfw/build/src/Debug/glfw3.lib
-    if [ $# -eq 1 ] && [ "$1" == "release" ]
-    then
-	dll_flags="-O2 -MTd"
-	exe_flags="-O2 -MT"
-    else
-	dll_flags="-Od -ZI -MDd"
-	exe_flags="-Od -ZI -MD"
-    fi
-    echo $flags
-    cl $plotter_srcs $glad_src $glfw_lib kernel32.lib user32.lib Gdi32.lib Shell32.lib -I ../inc -I ../ext/glm -I ../ext/glfw/include $dll_flags -MP -std:c++20 -LD -FeLivePlotter.dll
-    cp ../src/shaders/* .
-    cp ../assets/* .
-    cl $demo_srcs -I ../inc -I ../ext/glm $exe_flags -MP -std:c++20 -Fedemo.exe
-)

compile_commands.json

@@ -1,8 +0,0 @@
-[
-{ "directory": "C:/Users/seth/Documents/repos/LivePlotter", "command": "cl src/body.cpp -I inc -I ext/glm -I ext/glfw/include -Od -std:c++20 -Fo", "file": "src/body.cpp" },
-{ "directory": "C:/Users/seth/Documents/repos/LivePlotter", "command": "cl src/camera.cpp -I inc -I ext/glm -I ext/glfw/include -Od -std:c++20 -Fo", "file": "src/camera.cpp" },
-{ "directory": "C:/Users/seth/Documents/repos/LivePlotter", "command": "cl src/demo/demo.cpp -I inc -I ext/glm -I ext/glfw/include -Od -std:c++20 -Fo", "file": "src/demo/demo.cpp" },
-{ "directory": "C:/Users/seth/Documents/repos/LivePlotter", "command": "cl src/live_plotter.cpp -I inc -I ext/glm -I ext/glfw/include -Od -std:c++20 -Fo", "file": "src/live_plotter.cpp" },
-{ "directory": "C:/Users/seth/Documents/repos/LivePlotter", "command": "cl src/shaders.cpp -I inc -I ext/glm -I ext/glfw/include -Od -std:c++20 -Fo", "file": "src/shaders.cpp" },
-{ "directory": "C:/Users/seth/Documents/repos/LivePlotter", "command": "cl src/util.cpp -I inc -I ext/glm -I ext/glfw/include -Od -std:c++20 -Fo", "file": "src/util.cpp" },
-]

debug.cap

@@ -1,28 +0,0 @@
-{
-    "rdocCaptureSettings": 1,
-    "settings": {
-        "autoStart": false,
-        "commandLine": "",
-        "environment": [
-        ],
-        "executable": "C:\\Users\\sethh\\Documents\\repos\\LivePlotter\\bin\\demo.exe",
-        "inject": false,
-        "numQueuedFrames": 0,
-        "options": {
-            "allowFullscreen": true,
-            "allowVSync": true,
-            "apiValidation": false,
-            "captureAllCmdLists": false,
-            "captureCallstacks": false,
-            "captureCallstacksOnlyDraws": false,
-            "debugOutputMute": true,
-            "delayForDebugger": 0,
-            "hookIntoChildren": false,
-            "refAllResources": false,
-            "softMemoryLimit": 0,
-            "verifyBufferAccess": false
-        },
-        "queuedFrameCap": 0,
-        "workingDir": ""
-    }
-}

debug.rad

@@ -1,15 +0,0 @@
-// raddbg 0.9.21 project file
-
-recent_file: path: "src/live_plotter.cpp"
-recent_file: path: "src/camera.cpp"
-recent_file: path: "src/body.cpp"
-recent_file: path: "src/shaders.cpp"
-recent_file: path: "../../../../../Program Files/Microsoft Visual Studio/2022/Community/VC/Tools/MSVC/14.44.35207/include/variant"
-recent_file: path: "../../../../../Program Files/Microsoft Visual Studio/2022/Community/VC/Tools/MSVC/14.44.35207/include/type_traits"
-recent_file: path: "src/demo/demo.cpp"
-target:
-{
-  executable: "bin/demo.exe"
-  working_directory: bin
-  enabled: 1
-}

examples/cpp/build.bat

@@ -0,0 +1,12 @@
+SET flags=-Od -ZI -MD
+IF "%1" == "release" (
+    SET flags=-O2 -MT
+)
+SET srcs=src\*
+mkdir bin obj
+(
+PUSHD ..\..
+CALL build.bat %1 
+POPD
+COPY /Y ..\..\bin\* bin && cl %srcs% bin\LivePlotter.lib -I ..\..\inc -I ..\..\ext\glm %flags% -std:c++20 -MP -Fo:obj\\ -Fe:bin\\
+)

examples/cpp/export.bat

@@ -0,0 +1,22 @@
+@ECHO off
+SETLOCAL ENABLEDELAYEDEXPANSION
+
+ECHO [ > compile_commands.json
+
+FOR /r "src\" %%F IN (*.cpp) DO (
+
+SET "file=%%F"
+SET "file=!file:\=/!"
+SET "directory=%~dp0"
+SET "directory=!directory:\=/!"
+
+ECHO { >> compile_commands.json
+ECHO "directory": "!directory!", >> compile_commands.json
+ECHO "command": "cl !file! -I inc -I ../../ext/glm -I ../../ext/glfw/include %flags% -std:c++20 -MD -MP -Fo:obj\\ ", >> compile_commands.json
+
+ECHO "file": "!file!" >> compile_commands.json
+ECHO }, >> compile_commands.json
+
+)
+
+ECHO ] >> compile_commands.json

examples/cpp/src/util.cpp

@@ -0,0 +1,40 @@
+#include "util.hpp"
+
+using namespace std;
+
+bool read_file(string* s, const char* filepath) {
+    ifstream file(filepath);
+    if (!file.is_open()) {
+        return false;
+    }
+    *s = { istreambuf_iterator<char>(file), istreambuf_iterator<char>() };
+    return true;
+}
+
+vector<string> split_str(string s, char delim) {
+    vector<string> res;
+    string cur_word;
+    istringstream ss(s);
+    while (getline(ss, cur_word, delim)) {
+        res.push_back(cur_word);
+    }
+    return res;
+}
+
+// https://songho.ca/opengl/gl_quaternion.html
+glm::mat4 quat_to_mat4(glm::quat q) {
+    glm::vec4 col0 = glm::vec4(
+        1 - 2 * q.y * q.y - 2 * q.z * q.z, 2 * q.x * q.y + 2 * q.w * q.z, 2 * q.x * q.z - 2 * q.w * q.y, 0);
+
+    glm::vec4 col1 = glm::vec4(
+        2 * q.x * q.y - 2 * q.w * q.z, 1 - 2 * q.x * q.x - 2 * q.z * q.z, 2 * q.y * q.z + 2 * q.w * q.x, 0);
+
+    glm::vec4 col2 = glm::vec4(
+        2 * q.x * q.z + 2 * q.w * q.y, 2 * q.y * q.z - 2 * q.w * q.x, 1 - 2 * q.x * q.x - 2 * q.y * q.y, 0);
+
+    glm::vec4 col3 = glm::vec4(0, 0, 0, 1);
+
+    return glm::mat4(col0, col1, col2, col3);
+}
+
+float randf() { return (float)abs(rand()) / (float)RAND_MAX; }

examples/csharp/Demo.csproj

@@ -0,0 +1,14 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <OutputType>Exe</OutputType>
+    <TargetFramework>net8.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+  </PropertyGroup>
+
+  <Target Name="PreBuild" BeforeTargets="PreBuildEvent">
+    <Exec Command="COPY /Y ..\..\bin\* $(OutDir)" />
+  </Target>
+
+</Project>

examples/csharp/Demo.sln

@@ -0,0 +1,25 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 17
+VisualStudioVersion = 17.14.36429.23 d17.14
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Demo", "Demo.csproj", "{EBDDE3D7-AF12-4A1F-B099-0D046C271859}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{EBDDE3D7-AF12-4A1F-B099-0D046C271859}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{EBDDE3D7-AF12-4A1F-B099-0D046C271859}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{EBDDE3D7-AF12-4A1F-B099-0D046C271859}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{EBDDE3D7-AF12-4A1F-B099-0D046C271859}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {1E4249FD-1F82-4EE1-AF0B-68CAB69466C7}
+	EndGlobalSection
+EndGlobal

examples/csharp/LivePlotter.cs

@@ -0,0 +1,68 @@
+using System;
+using System.Numerics;
+using System.Runtime.InteropServices;
+
+using PointID = System.UInt64;
+
+namespace Demo
+{
+    public class LivePlotter
+    {
+        [DllImport("LivePlotter.dll")]
+        public static extern bool start(int win_w, int win_h);
+
+        [DllImport("LivePlotter.dll")]
+        public static extern bool stop();
+
+        [DllImport("LivePlotter.dll")]
+        public static extern PointID create_point(float x, float y, float z);
+
+        [DllImport("LivePlotter.dll")]
+        public static extern void set_color(PointID id, float r, float g, float b);
+
+        [DllImport("LivePlotter.dll")]
+        public static extern void set_scale(PointID id, float scale);
+
+        [DllImport("LivePlotter.dll")]
+        public static extern void update_point(PointID id, float x, float y, float z);
+
+        [DllImport("LivePlotter.dll")]
+        public static extern void set_lifetime(PointID id, float new_lifetime_s);
+
+        [DllImport("LivePlotter.dll")]
+        public static extern void clear_point(PointID id);
+
+        public static void PlotCameraPoses()
+        {
+            string[] lines = File.ReadAllLines("poses.csv");
+            for (int camera_i = 1; camera_i < lines.Length; camera_i++)
+            {
+                string[] words = lines[camera_i].Split(',');
+                float x = float.Parse(words[0]);
+                float y = float.Parse(words[1]);
+                float z = float.Parse(words[2]);
+                float w = float.Parse(words[3]);
+                float i = float.Parse(words[4]);
+                float j = float.Parse(words[5]);
+                float k = float.Parse(words[6]);
+
+                Pose pose = new(new Quaternion(i, j, k, w), new Vector3(x, y, z));
+                for (int m = 0; m < 3; m++)
+                {
+                    for (int n = 0; n < 25; n++)
+                    {
+                        Vector3 local = new(0);
+                        local[m] = n * 10.0f;
+                        Vector3 global = pose * local;
+                        PointID id = create_point(global.X, global.Y, global.Z);
+
+                        Vector3 color = new(0);
+                        color[m] = 1.0f;
+                        set_color(id, color.X, color.Y, color.Z);
+                        set_scale(id, 15);
+                    }
+                }
+            }
+        }
+    }
+}

examples/csharp/Pose.cs

@@ -0,0 +1,40 @@
+using System.Numerics;
+
+namespace Demo
+{
+    /// <summary>
+    /// <para>
+    /// Represents a rigid transformation from one coordinate system to another. <b>NOTE: By default, unless otherwise
+    /// stated, the <c>Pose</c> of an object transforms its local space to the ambient world space. </b>
+    /// </para>
+    /// <para>
+    /// Given two <c>Pose</c>s <c>p1</c> and <c>p2</c> which transform from space A to B and from B to C respectively,
+    /// the pose <c>p2 * p1</c> transforms from A to C, and <c>p1 * v</c> transforms a vector <c>v</c> from space A to
+    /// B. A <c>Pose</c> has a rotation and a translation. The rotation is always applied first, followed by the
+    /// translation.
+    /// </para>
+    /// </summary>
+    /// <param name="rotation">The rotation of this pose.</param>
+    /// <param name="translation">The translation of this pose.</param>
+    public struct Pose(Quaternion rotation, Vector3 translation)
+    {
+        public Vector3 Translation { readonly get; set; } = translation;
+        public Quaternion Rotation { readonly get; set; } = rotation;
+
+        public static Pose Identity => new(Quaternion.Identity, Vector3.Zero);
+
+        public Pose(Vector3 translation) : this(Quaternion.Identity, translation) { }
+        public Pose(Quaternion rotation) : this(rotation, Vector3.Zero) { }
+
+        public static Vector3 operator *(Pose p, Vector3 v) => Vector3.Transform(v, p.Rotation) + p.Translation;
+        public static Pose operator *(Pose a, Pose b) => new(a.Rotation * b.Rotation, a * b.Translation);
+        public readonly Pose Inverse
+        {
+            get
+            {
+                var rotInv = Quaternion.Conjugate(Rotation);
+                return new(rotInv, -Vector3.Transform(Translation, rotInv));
+            }
+        }
+    }
+}

examples/csharp/Program.cs

@@ -0,0 +1,6 @@
+using Demo;
+
+LivePlotter.start(800, 800);
+LivePlotter.PlotCameraPoses();
+
+while (true) ;

export.bat

@@ -0,0 +1,22 @@
+@ECHO off
+SETLOCAL ENABLEDELAYEDEXPANSION
+
+ECHO [ > compile_commands.json
+
+FOR /r "src\" %%F IN (*.cpp) DO (
+
+SET "file=%%F"
+SET "file=!file:\=/!"
+SET "directory=%~dp0"
+SET "directory=!directory:\=/!"
+
+ECHO { >> compile_commands.json
+ECHO "directory": "!directory!", >> compile_commands.json
+ECHO "command": "cl !file! -I inc -I ext/glm -I ext/glfw/include %flags% -std:c++20 -MP -LD -Fo:obj\\ ", >> compile_commands.json
+
+ECHO "file": "!file!" >> compile_commands.json
+ECHO }, >> compile_commands.json
+
+)
+
+ECHO ] >> compile_commands.json

export_compdb.sh

@@ -1,5 +0,0 @@
-srcs=src/*
-
-echo [ > compile_commands.json
-find src -iname "*.cpp" -exec sh -c 'echo { \"directory\": \"$(cygpath -m $(pwd))\", \"command\": \"cl "$(cygpath -m {})" -I inc -I ext/glm -I ext/glfw/include -Od -std:c++20 -Fo\", \"file\": \"$(cygpath -m {})\" }, >> compile_commands.json' \;
-echo ] >> compile_commands.json

inc/util.hpp

@@ -11,9 +11,12 @@
 
 typedef unsigned int uint;
 
-bool read_file(std::string* s, const char* filepath);
-std::vector<std::string> split_str(std::string s, char delim);
+using namespace std;
+
+bool read_file(string* s, const char* filepath);
+vector<string> split_str(string s, char delim);
 glm::mat4 quat_to_mat4(glm::quat q);
 float randf();
 template<class T> T lerp(T start, T end, float t) { return t * end + (1 - t) * start; }
-template<class T> float ilerp(T start, T end, T pos) { return (pos - start) / (end - start); }
+template<class T> float ilerp(T start, T end, T pos) { return (pos - start) / (end - start); }
+

src/util.cpp

@@ -1,7 +1,3 @@
-#include <string>
-#include <fstream>
-#include <sstream>
-
 #include "util.hpp"
 
 using namespace std;

tester.py

@@ -1,22 +0,0 @@
-import numpy as np
-import subprocess
-from pathlib import Path
-import time
-
-p = subprocess.Popen(Path("bin", "demo.exe"), cwd="bin", stdin=subprocess.PIPE)
-
-lines = None
-with open("assets/gpoints_rotate.obj", "r") as f:
-    lines = f.readlines()
-
-period = 0.01
-
-for i in range(len(lines)):
-    time.sleep(period)
-    words = lines[i].split()
-    x = words[1]
-    y = words[2]
-    z = words[3]
-    name = "".join(words[4:])
-    p.stdin.write(f"{name} {x} {y} {z}\n".encode("utf8"))
-    p.stdin.flush()