Update README.md

readme mods
2025-09-16 23:45:24 +00:00 · 2025-09-15 17:20:45 +00:00 · 2025-09-15 17:08:50 +00:00 · 2025-09-15 12:06:24 -05:00 · 2025-09-15 11:57:06 -05:00 · 2025-09-15 11:53:24 -05:00
43 changed files with 944 additions and 2215 deletions
--- a/.clang-format
+++ b/.clang-format
@@ -1,8 +0,0 @@
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--- a/.gitignore
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@@ -11,3 +11,7 @@ x64**
 **.pdb
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--- a/LivePlotter.sln
+++ b/LivePlotter.sln
@@ -1,37 +0,0 @@
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--- a/LivePlotter.vcxproj.filters
+++ b/LivePlotter.vcxproj.filters
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--- a/LivePlotter.vcxproj.user
+++ b/LivePlotter.vcxproj.user
@@ -1,9 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
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--- a/README.md
+++ b/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).
--- a/activate.bat
+++ b/activate.bat
@@ -0,0 +1 @@
+"C:\Program Files\Microsoft Visual Studio\2022\Community\VC\Auxiliary\Build\vcvars64.bat"
--- a/assets/Icosphere.obj
+++ b/assets/Icosphere.obj
--- a/assets/poses.csv
+++ b/assets/poses.csv
--- a/assets/shaders/fragment.glsl
+++ b/assets/shaders/fragment.glsl
--- a/assets/shaders/vertex.glsl
+++ b/assets/shaders/vertex.glsl
--- a/build.bat
+++ b/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
--- a/compile_commands.json
+++ b/compile_commands.json
@@ -1,49 +0,0 @@
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-  {
-    "directory": "C:/Users/seth/Documents/repos/LivePlotter/",
-    "command": "\"C:/Users/seth/AppData/Roaming/ClangPowerTools/LLVM_Lite/Bin/clang++.exe\" -x c++ \"C:/Users/seth/Documents/repos/LivePlotter/src/shaders.cpp\" -std=c++20 -Wall -fms-compatibility-version=19.10 -Wmicrosoft -Wno-invalid-token-paste -Wno-unknown-pragmas -Wno-unused-value -fsyntax-only \"-DUNICODE\" \"-D_UNICODE\" \"-D_MT\" \"-D_DLL\" \"-D_DEBUG\" \"-D_CONSOLE\" \"-D_DEBUG_FUNCTIONAL_MACHINERY\" -isystem\"C:/Program Files (x86)/Microsoft Visual Studio/2022/BuildTools/VC/include\" -isystem\"C:/Program Files (x86)/Microsoft Visual Studio/2022/BuildTools/VC/atlmfc/include\" -isystem\"C:/Program Files (x86)/Microsoft Visual Studio/2022/BuildTools/VC/Auxiliary/VS/include\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/ucrt\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/um\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/shared\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/winrt\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/cppwinrt\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/ext/pthreads4w-code\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/ext/glm\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/ext/glfw/include\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/inc\"",
-    "file": "C:/Users/seth/Documents/repos/LivePlotter/src/shaders.cpp"
-  }
-  ,
-  {
-    "directory": "C:/Users/seth/Documents/repos/LivePlotter/",
-    "command": "\"C:/Users/seth/AppData/Roaming/ClangPowerTools/LLVM_Lite/Bin/clang++.exe\" -x c++ \"C:/Users/seth/Documents/repos/LivePlotter/src/body.cpp\" -std=c++20 -Wall -fms-compatibility-version=19.10 -Wmicrosoft -Wno-invalid-token-paste -Wno-unknown-pragmas -Wno-unused-value -fsyntax-only \"-DUNICODE\" \"-D_UNICODE\" \"-D_MT\" \"-D_DLL\" \"-D_DEBUG\" \"-D_CONSOLE\" \"-D_DEBUG_FUNCTIONAL_MACHINERY\" -isystem\"C:/Program Files (x86)/Microsoft Visual Studio/2022/BuildTools/VC/include\" -isystem\"C:/Program Files (x86)/Microsoft Visual Studio/2022/BuildTools/VC/atlmfc/include\" -isystem\"C:/Program Files (x86)/Microsoft Visual Studio/2022/BuildTools/VC/Auxiliary/VS/include\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/ucrt\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/um\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/shared\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/winrt\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/cppwinrt\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/ext/pthreads4w-code\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/ext/glm\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/ext/glfw/include\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/inc\"",
-    "file": "C:/Users/seth/Documents/repos/LivePlotter/src/body.cpp"
-  }
-  ,
-  {
-    "directory": "C:/Users/seth/Documents/repos/LivePlotter/",
-    "command": "\"C:/Users/seth/AppData/Roaming/ClangPowerTools/LLVM_Lite/Bin/clang++.exe\" -x c++ \"C:/Users/seth/Documents/repos/LivePlotter/src/live_plotter.cpp\" -std=c++20 -Wall -fms-compatibility-version=19.10 -Wmicrosoft -Wno-invalid-token-paste -Wno-unknown-pragmas -Wno-unused-value -fsyntax-only \"-DUNICODE\" \"-D_UNICODE\" \"-D_MT\" \"-D_DLL\" \"-D_DEBUG\" \"-D_CONSOLE\" \"-D_DEBUG_FUNCTIONAL_MACHINERY\" -isystem\"C:/Program Files (x86)/Microsoft Visual Studio/2022/BuildTools/VC/include\" -isystem\"C:/Program Files (x86)/Microsoft Visual Studio/2022/BuildTools/VC/atlmfc/include\" -isystem\"C:/Program Files (x86)/Microsoft Visual Studio/2022/BuildTools/VC/Auxiliary/VS/include\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/ucrt\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/um\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/shared\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/winrt\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/cppwinrt\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/ext/pthreads4w-code\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/ext/glm\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/ext/glfw/include\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/inc\"",
-    "file": "C:/Users/seth/Documents/repos/LivePlotter/src/live_plotter.cpp"
-  }
-  ,
-  {
-    "directory": "C:/Users/seth/Documents/repos/LivePlotter/",
-    "command": "\"C:/Users/seth/AppData/Roaming/ClangPowerTools/LLVM_Lite/Bin/clang++.exe\" -x c++ \"C:/Users/seth/Documents/repos/LivePlotter/src/main.cpp\" -std=c++20 -Wall -fms-compatibility-version=19.10 -Wmicrosoft -Wno-invalid-token-paste -Wno-unknown-pragmas -Wno-unused-value -fsyntax-only \"-DUNICODE\" \"-D_UNICODE\" \"-D_MT\" \"-D_DLL\" \"-D_DEBUG\" \"-D_CONSOLE\" \"-D_DEBUG_FUNCTIONAL_MACHINERY\" -isystem\"C:/Program Files (x86)/Microsoft Visual Studio/2022/BuildTools/VC/include\" -isystem\"C:/Program Files (x86)/Microsoft Visual Studio/2022/BuildTools/VC/atlmfc/include\" -isystem\"C:/Program Files (x86)/Microsoft Visual Studio/2022/BuildTools/VC/Auxiliary/VS/include\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/ucrt\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/um\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/shared\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/winrt\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/cppwinrt\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/ext/pthreads4w-code\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/ext/glm\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/ext/glfw/include\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/inc\"",
-    "file": "C:/Users/seth/Documents/repos/LivePlotter/src/main.cpp"
-  }
-  ,
-  {
-    "directory": "C:/Users/seth/Documents/repos/LivePlotter/",
-    "command": "\"C:/Users/seth/AppData/Roaming/ClangPowerTools/LLVM_Lite/Bin/clang++.exe\" -x c \"C:/Users/seth/Documents/repos/LivePlotter/src/glad.c\" -Wall -fms-compatibility-version=19.10 -Wmicrosoft -Wno-invalid-token-paste -Wno-unknown-pragmas -Wno-unused-value -fsyntax-only \"-DUNICODE\" \"-D_UNICODE\" \"-D_MT\" \"-D_DLL\" \"-D_DEBUG\" \"-D_CONSOLE\" \"-D_DEBUG_FUNCTIONAL_MACHINERY\" -isystem\"C:/Program Files (x86)/Microsoft Visual Studio/2022/BuildTools/VC/include\" -isystem\"C:/Program Files (x86)/Microsoft Visual Studio/2022/BuildTools/VC/atlmfc/include\" -isystem\"C:/Program Files (x86)/Microsoft Visual Studio/2022/BuildTools/VC/Auxiliary/VS/include\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/ucrt\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/um\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/shared\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/winrt\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/cppwinrt\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/ext/pthreads4w-code\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/ext/glm\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/ext/glfw/include\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/inc\"",
-    "file": "C:/Users/seth/Documents/repos/LivePlotter/src/glad.c"
-  }
-  ,
-  {
-    "directory": "C:/Users/seth/Documents/repos/LivePlotter/",
-    "command": "\"C:/Users/seth/AppData/Roaming/ClangPowerTools/LLVM_Lite/Bin/clang++.exe\" -x c++ \"C:/Users/seth/Documents/repos/LivePlotter/src/camera.cpp\" -std=c++20 -Wall -fms-compatibility-version=19.10 -Wmicrosoft -Wno-invalid-token-paste -Wno-unknown-pragmas -Wno-unused-value -fsyntax-only \"-DUNICODE\" \"-D_UNICODE\" \"-D_MT\" \"-D_DLL\" \"-D_DEBUG\" \"-D_CONSOLE\" \"-D_DEBUG_FUNCTIONAL_MACHINERY\" -isystem\"C:/Program Files (x86)/Microsoft Visual Studio/2022/BuildTools/VC/include\" -isystem\"C:/Program Files (x86)/Microsoft Visual Studio/2022/BuildTools/VC/atlmfc/include\" -isystem\"C:/Program Files (x86)/Microsoft Visual Studio/2022/BuildTools/VC/Auxiliary/VS/include\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/ucrt\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/um\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/shared\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/winrt\" -isystem\"C:/Program Files (x86)/Windows Kits/10/Include/10.0.26100.0/cppwinrt\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/ext/pthreads4w-code\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/ext/glm\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/ext/glfw/include\" -isystem\"C:/Users/seth/Documents/repos/LivePlotter/inc\"",
-    "file": "C:/Users/seth/Documents/repos/LivePlotter/src/camera.cpp"
-  }
-]
--- a/demo.gif
+++ b/demo.gif
--- a/examples/cpp/activate.bat
+++ b/examples/cpp/activate.bat
--- a/examples/cpp/build.bat
+++ b/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\\
+)
--- a/examples/cpp/export.bat
+++ b/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
--- a/examples/cpp/src/demo.cpp
+++ b/examples/cpp/src/demo.cpp
@@ -0,0 +1,93 @@
+#include <iostream>
+#include <string>
+#include <map>
+
+#include "glm/ext/vector_float3.hpp"
+#include "util.hpp"
+#include "live_plotter.hpp"
+
+#pragma comment(lib, "LivePlotter.lib")
+
+using namespace std;
+
+static map<string, pointid> name_to_id;
+
+#define LINE_BUF_SIZE 256
+#define NUM_SPHERES_PER_AXE 25
+#define SPACE_PER_SPHERE 10.0f
+
+bool parse_poses(std::vector<glm::mat2x3>& locs_out, const char* filepath) {
+    ifstream file(filepath);
+    if (!file.is_open()) {
+        return false;
+    }
+
+    string line;
+    getline(file, line);
+    while (getline(file, line)) {
+        std::vector<std::string> words = split_str(line, ',');
+        float x = stof(words[0]);
+        float y = stof(words[1]);
+        float z = stof(words[2]);
+        float w = stof(words[3]);
+        float i = stof(words[4]);
+        float j = stof(words[5]);
+        float k = stof(words[6]);
+
+        glm::mat4 pose = quat_to_mat4(glm::quat(w, i, j, k));
+        pose[3] = glm::vec4(x, y, z, 1);
+        // Generate axis spheres
+        for (int m = 0; m < 3; m++) {
+            for (int n = 0; n < NUM_SPHERES_PER_AXE; n++) {
+                glm::mat2x3 loc_color = glm::mat2x3(0.0);
+                loc_color[0][m] = n * SPACE_PER_SPHERE;
+                loc_color[0] = pose * glm::vec4(loc_color[0], 1);
+
+                loc_color[1] = glm::vec3(0);
+                loc_color[1][m] = 1.0f;
+                locs_out.push_back(loc_color);
+            }
+        }
+    }
+    return true;
+}
+
+int main() {
+    vector<glm::mat2x3> camera_pose_axes;
+    if (!parse_poses(camera_pose_axes, "poses.csv")) {
+        return -1;
+    }
+
+    start(800, 800);
+
+    for (int i = 0; i < camera_pose_axes.size(); i++) {
+        glm::vec3 p = camera_pose_axes[i][0];
+        glm::vec3 color = camera_pose_axes[i][1];
+        pointid id = create_point(p.x, p.y, p.z);
+        set_color(id, color.x, color.y, color.z);
+        set_scale(id, 10);
+    }
+
+    while (true) {
+        string line;
+        getline(cin, line);
+        vector<string> words = split_str(line, ' ');
+        if (words.size() != 4)
+            return NULL;
+        printf("Received: %s, %s, %s, %s\n", words[0].c_str(), words[1].c_str(), words[2].c_str(),
+
+            words[3].c_str()); // echo for debugging
+        string name = words[0];
+        float x = stof(words[1]);
+        float y = stof(words[2]);
+        float z = stof(words[3]);
+
+        if (auto it = name_to_id.find(name); it != name_to_id.end()) {
+            update_point(it->second, x, y, z);
+        } else {
+            name_to_id[name] = create_point(x, y, z);
+            set_lifetime(name_to_id[name], 0.2);
+            set_scale(name_to_id[name], 15);
+        }
+    }
+}
--- a/examples/cpp/src/util.cpp
+++ b/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; }
--- a/examples/csharp/Demo.csproj
+++ b/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>
--- a/examples/csharp/Demo.sln
+++ b/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
--- a/examples/csharp/LivePlotter.cs
+++ b/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);
+                    }
+                }
+            }
+        }
+    }
+}
--- a/examples/csharp/Pose.cs
+++ b/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));
+            }
+        }
+    }
+}
--- a/examples/csharp/Program.cs
+++ b/examples/csharp/Program.cs
@@ -0,0 +1,6 @@
+using Demo;
+
+LivePlotter.start(800, 800);
+LivePlotter.PlotCameraPoses();
+
+while (true) ;
--- a/export.bat
+++ b/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
--- a/ext/glfw
+++ b/ext/glfw
--- a/gpoints_rotate.obj
+++ b/gpoints_rotate.obj
--- a/inc/body.hpp
+++ b/inc/body.hpp
@@ -2,20 +2,27 @@

 #include <glm/ext/matrix_float4x4.hpp>
 #include <glm/glm.hpp>
+#include <string>
 #include "util.hpp"

+struct ObjData {
+    float* verts;
+    int verts_len;
+    int* faces;
+    int faces_len;
+};
+
 struct Body {
    glm::mat4 pose;
+    glm::vec4 color;
    float scale;
    uint ebo;
    uint vao;
    uint vbo;
    uint shader;
-    Array<float> verts;
-    Array<int> faces;
-    glm::vec4 color;
+    ObjData data;
 };

-bool load_body(Body* out_body, const char* obj_filepath);
+bool load_body(Body* out_body, std::string filepath);
 void draw_body(const Body& b);
-void create_new_sphere(Body* b, float scale=1.0f);
+void create_new_sphere(Body* b, float scale, glm::vec4 color);
--- a/inc/camera_poses.hpp
+++ b/inc/camera_poses.hpp
@@ -1,5 +1,3 @@
 #pragma once

-#include "util.hpp"
-
-bool parse_poses(Array<glm::mat2x3>* locs_out, const char* filepath);
+bool parse_poses(std::vector<glm::mat2x3>* locs_out, const char* filepath);
--- a/inc/gldebug.hpp
+++ b/inc/gldebug.hpp
@@ -0,0 +1,97 @@
+#pragma once
+
+#include <stdio.h>
+
+#include <glad/glad.h>
+#include <GLFW/glfw3.h>
+
+void APIENTRY gl_debug_cb(GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *message, const void *userParam)
+{
+    // Some debug messages are just annoying informational messages
+    switch (id)
+    {
+    case 131185: // glBufferData
+        return;
+    }
+
+    printf("Message: %s\n", message);
+    printf("Source: ");
+
+    switch (source)
+    {
+    case GL_DEBUG_SOURCE_API:
+        printf("API");
+        break;
+    case GL_DEBUG_SOURCE_WINDOW_SYSTEM:
+        printf("Window System");
+        break;
+    case GL_DEBUG_SOURCE_SHADER_COMPILER:
+        printf("Shader Compiler");
+        break;
+    case GL_DEBUG_SOURCE_THIRD_PARTY:
+        printf("Third Party");
+        break;
+    case GL_DEBUG_SOURCE_APPLICATION:
+        printf("Application");
+        break;
+    case GL_DEBUG_SOURCE_OTHER:
+        printf("Other");
+        break;
+    }
+
+    printf("\n");
+    printf("Type: ");
+
+    switch (type)
+    {
+    case GL_DEBUG_TYPE_ERROR:
+        printf("Error");
+        break;
+    case GL_DEBUG_TYPE_DEPRECATED_BEHAVIOR:
+        printf("Deprecated Behavior");
+        break;
+    case GL_DEBUG_TYPE_UNDEFINED_BEHAVIOR:
+        printf("Undefined Behavior");
+        break;
+    case GL_DEBUG_TYPE_PORTABILITY:
+        printf("Portability");
+        break;
+    case GL_DEBUG_TYPE_PERFORMANCE:
+        printf("Performance");
+        break;
+    case GL_DEBUG_TYPE_MARKER:
+        printf("Marker");
+        break;
+    case GL_DEBUG_TYPE_PUSH_GROUP:
+        printf("Push Group");
+        break;
+    case GL_DEBUG_TYPE_POP_GROUP:
+        printf("Pop Group");
+        break;
+    case GL_DEBUG_TYPE_OTHER:
+        printf("Other");
+        break;
+    }
+
+    printf("\n");
+    printf("ID: %d\n", id);
+    printf("Severity: ");
+
+    switch (severity)
+    {
+    case GL_DEBUG_SEVERITY_HIGH:
+        printf("High");
+        break;
+    case GL_DEBUG_SEVERITY_MEDIUM:
+        printf("Medium");
+        break;
+    case GL_DEBUG_SEVERITY_LOW:
+        printf("Low");
+        break;
+    case GL_DEBUG_SEVERITY_NOTIFICATION:
+        printf("Notification");
+        break;
+    }
+
+    printf("\n\n");
+}
--- a/inc/live_plotter.hpp
+++ b/inc/live_plotter.hpp
@@ -1,12 +1,16 @@
 #pragma once

+#define DllExport __declspec( dllexport ) 
+
 typedef unsigned long long pointid;

-DllExport bool __cdecl start(int win_w, int win_h);
-DllExport bool __cdecl stop();
-DllExport pointid __cdecl create_point(float x, float y, float z);
-DllExport void __cdecl set_color(pointid id, float r, float g, float b);
-DllExport void __cdecl set_scale(pointid id, float scale);
-DllExport void __cdecl update_point(pointid id, float x, float y, float z);
-DllExport void __cdecl set_lifetime(pointid id, float new_lifetime_s);
-DllExport void __cdecl clear_point(pointid id);
+extern "C" {
+	DllExport bool __cdecl start(int win_w, int win_h);
+	DllExport bool __cdecl stop();
+	DllExport pointid __cdecl create_point(float x, float y, float z);
+	DllExport void __cdecl set_color(pointid id, float r, float g, float b);
+	DllExport void __cdecl set_scale(pointid id, float scale);
+	DllExport void __cdecl update_point(pointid id, float x, float y, float z);
+	DllExport void __cdecl set_lifetime(pointid id, float new_lifetime_s);
+	DllExport void __cdecl clear_point(pointid id);
+}
--- a/inc/sync.hpp
+++ b/inc/sync.hpp
@@ -0,0 +1,190 @@
+#pragma once 
+
+#ifdef _WIN32
+#include "windows.h"
+#endif
+
+namespace sync {
+
+#ifdef _WIN32
+typedef CRITICAL_SECTION Mutex;
+typedef CONDITION_VARIABLE ConditionVar; 
+typedef HANDLE Semaphore;
+typedef HANDLE Thread; 
+typedef LARGE_INTEGER TimeSpan;
+typedef DWORD (WINAPI *ThreadFunc)(_In_ LPVOID lpParameter);
+typedef LPVOID ThreadArg;
+
+const TimeSpan infinite_ts = { .QuadPart = LLONG_MAX };
+
+LARGE_INTEGER _init_freq() {
+    LARGE_INTEGER freq;
+    QueryPerformanceFrequency(&freq);
+    return freq;
+}
+
+static LARGE_INTEGER freq = _init_freq();
+#endif
+
+Thread make_thread(ThreadFunc t, ThreadArg a);
+void join(Thread t);
+
+Mutex make_mutex();
+void lock(Mutex &m);
+bool trylock(Mutex &m);
+void unlock(Mutex &m);
+void dispose(Mutex &m);
+
+ConditionVar make_condition_var();
+void wait(ConditionVar &c, Mutex &m, TimeSpan ts);
+void wake_one(ConditionVar &c);
+void wake_all(ConditionVar &c);
+void dispose(ConditionVar &c);
+
+Semaphore make_semaphore(int initial, int max);
+void wait(Semaphore &s);
+void post(Semaphore &s);
+void dispose(Semaphore &s);
+
+TimeSpan from_ms(double milliseconds);
+TimeSpan from_s(double seconds);
+TimeSpan from_min(double minutes);
+TimeSpan from_hours(double hours);
+TimeSpan now();
+TimeSpan operator-(const TimeSpan &a, const TimeSpan &b);
+
+double to_ms(TimeSpan &sp);
+double to_s(TimeSpan &sp);
+double to_min(TimeSpan &sp);
+double to_hours(TimeSpan &sp);
+
+#ifdef _WIN32
+
+Thread make_thread(ThreadFunc f, ThreadArg a) {
+    DWORD tid;
+    return CreateThread(NULL, 0, f, a, 0, &tid);
+}
+
+void join(Thread t) {
+    WaitForSingleObject(t, INFINITE);
+}
+
+Mutex make_mutex() {
+    Mutex m;
+    InitializeCriticalSection(&m);
+    return m;
+}
+
+void lock(Mutex &m) {
+    EnterCriticalSection(&m);
+}
+
+bool trylock(Mutex &m) {
+    return TryEnterCriticalSection(&m);
+}
+
+void unlock(Mutex &m) {
+    LeaveCriticalSection(&m);
+}
+
+void dispose(Mutex &m) {
+    DeleteCriticalSection(&m);
+}
+
+ConditionVar make_condition_var() {
+    ConditionVar c;
+    InitializeConditionVariable(&c);
+    return c;
+}
+
+void wait(ConditionVar &c, Mutex &m, TimeSpan ts) {
+    if (ts.QuadPart == infinite_ts.QuadPart) {
+        SleepConditionVariableCS(&c, &m, INFINITE);
+    } else {
+        SleepConditionVariableCS(&c, &m, static_cast<DWORD>(to_ms(ts)));
+    }
+}
+
+void wake_one(ConditionVar &c) {
+    WakeConditionVariable(&c);
+}
+
+void wake_all(ConditionVar &c) {
+    WakeAllConditionVariable(&c);
+}
+
+void dispose(ConditionVar &c) {
+    return; // Windows doesn't have a delete condition variable func
+}
+
+Semaphore make_semaphore(int initial, int max) {
+    return CreateSemaphoreA(NULL, (long)initial, (long)max, NULL);
+}
+
+void wait(Semaphore &s) {
+    WaitForSingleObject(s, INFINITE);
+}
+
+void post(Semaphore &s) {
+    ReleaseSemaphore(s, 1, NULL);
+}
+
+void dispose(Semaphore &s) {
+    CloseHandle(s);
+}
+
+TimeSpan from_ms(double milliseconds) {
+    TimeSpan ts;
+    ts.QuadPart = static_cast<LONGLONG>(milliseconds/1000.0)*freq.QuadPart;
+    return ts;
+}
+
+TimeSpan from_s(double seconds) {
+    TimeSpan ts;
+    ts.QuadPart = static_cast<LONGLONG>(seconds)*freq.QuadPart;
+    return ts;
+}
+
+TimeSpan from_min(double minutes) {
+    TimeSpan ts;
+    ts.QuadPart = static_cast<LONGLONG>(minutes*60.0)*freq.QuadPart;
+    return ts;
+}
+
+TimeSpan from_hours(double hours) {
+    TimeSpan ts;
+    ts.QuadPart = static_cast<LONGLONG>(hours*60.0*60.0)*freq.QuadPart;
+    return ts;
+}
+
+TimeSpan now() {
+    TimeSpan ts;
+    QueryPerformanceCounter(&ts);
+    return ts;
+}
+
+TimeSpan operator-(const TimeSpan &a, TimeSpan &b) {
+    TimeSpan ts;
+    ts.QuadPart = a.QuadPart - b.QuadPart;
+    return ts;
+}
+
+double to_ms(TimeSpan &sp) {
+    return static_cast<double>(sp.QuadPart*1000)/static_cast<double>(freq.QuadPart);
+}
+
+double to_s(TimeSpan &sp) {
+    return static_cast<double>(sp.QuadPart)/static_cast<double>(freq.QuadPart);
+}
+
+double to_min(TimeSpan &sp) {
+    return static_cast<double>(sp.QuadPart)/static_cast<double>(freq.QuadPart*60);
+}
+
+double to_hours(TimeSpan &sp) {
+    return static_cast<double>(sp.QuadPart)/static_cast<double>(freq.QuadPart*60*60);
+}
+ 
+#endif
+
+} // namespace sync
--- a/inc/util.hpp
+++ b/inc/util.hpp
@@ -2,32 +2,21 @@

 #include <stdio.h>
 #include <cstdlib>
+#include <string>
+#include <fstream>
+#include <sstream>
 #include <glm/ext/matrix_float4x4.hpp>
 #include <glm/ext/quaternion_float.hpp>
 #include <glm/ext/vector_float4.hpp>

-#define DllExport   __declspec( dllexport ) 
-
 typedef unsigned int uint;

-template<class T> struct Array {
-    T* data;
-    size_t len;
-    size_t cap;
-    inline T& operator[](int i) { return data[i]; }
-};
-
-template<class T> void append(Array<T>& a, T el);
-template<class T> T pop(Array<T>& a);
-template<class T> void resize(Array<T>& a, size_t new_cap);
-template<class T> void clear(Array<T>& a);
-bool read_file(Array<char>* out, const char* filepath);
-Array<char*> split_str(const char* s, char delimiter);
-Array<char*> split_str(const char* s);
+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); }

-float randf(); // returns a float between 0 and 1
--- a/lib/WS2_32.Lib
+++ b/lib/WS2_32.Lib
--- a/src/body.cpp
+++ b/src/body.cpp
@@ -1,9 +1,14 @@
 #include <cassert>
 #include <glad/glad.h>
+#include <map>
+#include <string>
+
 #include "util.hpp"
 #include "body.hpp"
 #include "shaders.hpp"

+using namespace std;
+
 enum class ParserState {
    PREFIX,
    VERTEX,
@@ -11,72 +16,24 @@ enum class ParserState {
    FACE_SKIP,
 };

+static map<string, ObjData> cache;
+
+bool _parse_obj(ObjData* data, const char* obj_filepath);
+
 bool load_body(Body* out_body, const char* obj_filepath) {
-    Array<char> source;
-    if (!read_file(&source, obj_filepath)) {
+    ObjData data;
+    if (auto it = cache.find(obj_filepath); it != cache.end()) {
+        data = it->second;
+    } else if (_parse_obj(&data, obj_filepath)) {
+        cache[obj_filepath] = data;
+    } else {
        return false;
    }

-    size_t num_verts = 0;
-    size_t num_faces = 0;
-    for (int i = 1; i < source.len; i++) {
-        if (source[i] == ' ' && source[i - 1] == 'v') {
-            num_verts++;
-        } else if (source[i] == ' ' && source[i - 1] == 'f') {
-            num_faces++;
-        }
-    }
-
-    Array<float> verts = { (float*)malloc(sizeof(float) * num_verts * 3), num_verts * 3 };
-    Array<int> faces = { (int*)malloc(sizeof(int) * num_faces * 3), num_faces*3 };
-
-    // Get ready for the parsing loop
-    ParserState state = ParserState::PREFIX;
-    int vert_i = 0;
-    int face_i = 0;
-    int start = 0;
-
-    for (int i = 1; i < source.len; i++) {
-        switch (state) {
-        case ParserState::PREFIX:
-            if (source[i - 1] == 'v' && source[i] == ' ') {
-                state = ParserState::VERTEX;
-                start = i + 1;
-            } else if (i > 0 && source[i - 1] == 'f' && source[i] == ' ') {
-                state = ParserState::FACE;
-                start = i + 1;
-            }
-            break;
-        case ParserState::VERTEX:
-            if (iswspace(source[i])) {
-                verts[vert_i] = atof(&source[start]);
-                vert_i++;
-                start = i + 1;
-            }
-            break;
-        case ParserState::FACE:
-            if (source[i] == '/') {
-                state = ParserState::FACE_SKIP;
-                faces[face_i] = atoi(&source[start]) - 1;
-                face_i++;
-            }
-            break;
-        case ParserState::FACE_SKIP:
-            if (iswspace(source[i])) {
-                state = ParserState::FACE;
-                start = i + 1;
-            }
-        }
-        if (source[i] == '\n' || source[i] == '\r') {
-            state = ParserState::PREFIX;
-            continue;
-        }
-    }
-
    // Need a good validation check here. This is a stand in.
-    if (verts.len == 0 || faces.len == 0) {
-        printf(
-            "Obj file appears incomplete or corrupted. Num verts %zu. Num Faces %zu.\n", verts.len, faces.len);
+    if (data.verts_len == 0 || data.faces_len == 0) {
+        printf("Obj file appears incomplete or corrupted. Num verts %d. Num Faces %d.\n", data.verts_len,
+            data.faces_len);
        return false;
    }

@@ -92,22 +49,15 @@ bool load_body(Body* out_body, const char* obj_filepath) {
    glBindVertexArray(vao);

    glBindBuffer(GL_ARRAY_BUFFER, vbo);
-    glBufferData(GL_ARRAY_BUFFER, verts.len * sizeof(float), verts.data, GL_STATIC_DRAW);
+    glBufferData(GL_ARRAY_BUFFER, data.verts_len * sizeof(float), data.verts, GL_STATIC_DRAW);

    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, ebo);
-    glBufferData(GL_ELEMENT_ARRAY_BUFFER, faces.len * sizeof(int), faces.data, GL_STATIC_DRAW);
+    glBufferData(GL_ELEMENT_ARRAY_BUFFER, data.faces_len * sizeof(int), data.faces, GL_STATIC_DRAW);

    glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 3 * sizeof(float), (void*)0);
    glEnableVertexAttribArray(0);

-    out_body->pose = glm::mat4(1);
-    out_body->ebo = ebo;
-    out_body->vao = vao;
-    out_body->vbo = vbo;
-    out_body->shader = 0;
-    out_body->verts = verts;
-    out_body->faces = faces;
-
+    *out_body = { .pose = glm::mat4(1), .ebo = ebo, .vao = vao, .vbo = vbo, .shader = 0, .data = data };
    return true;
 }

@@ -116,10 +66,77 @@ void draw_body(const Body& b) {
    set_uniform(b.shader, "global_t", glm::scale(b.pose, glm::vec3(b.scale)));
    set_uniform(b.shader, "color", b.color);
    glBindVertexArray(b.vao);
-    glDrawElements(GL_TRIANGLES, b.faces.len, GL_UNSIGNED_INT, 0);
+    glDrawElements(GL_TRIANGLES, b.data.faces_len, GL_UNSIGNED_INT, 0);
 }

-void create_new_sphere(Body* b, float scale) {
+void create_new_sphere(Body* b, float scale, glm::vec4 color) { 
    assert(load_body(b, "Icosphere.obj"));
    b->scale = scale;
+    b->color = color;
+}
+
+// I need to write a good obj file parser at some point. This is basically garbage
+bool _parse_obj(ObjData* data, const char* obj_filepath) {
+    string source;
+    if (!read_file(&source, obj_filepath)) {
+        return {};
+    }
+
+    size_t num_verts = 0;
+    size_t num_faces = 0;
+    for (int i = 1; i < source.size(); i++) {
+        if (source[i] == ' ' && source[i - 1] == 'v') {
+            num_verts++;
+        } else if (source[i] == ' ' && source[i - 1] == 'f') {
+            num_faces++;
+        }
+    }
+
+    float* verts = (float*)malloc(sizeof(float) * num_verts * 3);
+    int* faces = (int*)malloc(sizeof(int) * num_faces * 3);
+
+    int vert_i = 0;
+    int face_i = 0;
+
+    // Get ready for the parsing loop
+    ParserState state = ParserState::PREFIX;
+    int start = 0;
+
+    for (int i = 1; i < source.size(); i++) {
+        switch (state) {
+        case ParserState::PREFIX:
+            if (source[i - 1] == 'v' && source[i] == ' ') {
+                state = ParserState::VERTEX;
+                start = i + 1;
+            } else if (i > 0 && source[i - 1] == 'f' && source[i] == ' ') {
+                state = ParserState::FACE;
+                start = i + 1;
+            }
+            break;
+        case ParserState::VERTEX:
+            if (iswspace(source[i])) {
+                verts[vert_i++] = atof(&source[start]);
+                start = i + 1;
+            }
+            break;
+        case ParserState::FACE:
+            if (source[i] == '/') {
+                state = ParserState::FACE_SKIP;
+                faces[face_i++] = atoi(&source[start]) - 1;
+            }
+            break;
+        case ParserState::FACE_SKIP:
+            if (iswspace(source[i])) {
+                state = ParserState::FACE;
+                start = i + 1;
+            }
+        }
+        if (source[i] == '\n' || source[i] == '\r') {
+            state = ParserState::PREFIX;
+            continue;
+        }
+    }
+
+    *data = { .verts = verts, .verts_len = vert_i, .faces = faces, .faces_len = face_i };
+    return true;
 }
--- a/src/camera.cpp
+++ b/src/camera.cpp
@@ -42,7 +42,8 @@ glm::mat4 world_to_camera(Camera& c) {
    glm::mat4 rotation_theta = glm::rotate(glm::mat4(1), c.theta, {0, 1, 0});
    glm::mat4 rotation_phi = glm::rotate(glm::mat4(1), c.phi, {1, 0, 0});
    glm::mat4 rotated_focus_to_camera = glm::translate(glm::mat4(1), { 0, 0, -c.distance });
-    return rotated_focus_to_camera * rotation_phi * rotation_theta * world_to_focus;
+    glm::mat4 res = rotated_focus_to_camera * rotation_phi * rotation_theta * world_to_focus;
+    return res;
 }

 glm::mat4 camera_to_world(Camera& c) { return glm::inverse(world_to_camera(c)); }
--- a/src/camera_poses.cpp
+++ b/src/camera_poses.cpp
@@ -1,62 +0,0 @@
-#include <body.hpp>
-#include <stdio.h>
-#include <stdlib.h>
-#include <glm/glm.hpp>
-#include <glm/ext/matrix_clip_space.hpp>
-#include <glm/ext/matrix_transform.hpp>
-#include <glm/ext/vector_float3.hpp>
-#include <glm/matrix.hpp>
-#include <util.hpp>
-
-#include "camera_poses.hpp"
-
-#define LINE_BUF_SIZE 256
-#define NUM_SPHERES_PER_AXE 25
-#define SPACE_PER_SPHERE 10.0f
-
-bool parse_poses(Array<glm::mat2x3>* locs_out, const char* filepath) {
-    FILE* fp;
-    if (fopen_s(&fp, filepath, "rb")) {
-        printf("Error parsing %s\n", filepath);
-        return false;
-    }
-
-    char delim = ',';
-    char line[LINE_BUF_SIZE];
-    // because clang refuses to cooperate with my append implementation and generate the function code...
-    *locs_out = { (glm::mat2x3*)malloc(sizeof(glm::mat2x3) * 3 * NUM_SPHERES_PER_AXE * 14),
-        3 * NUM_SPHERES_PER_AXE * 14 };
-
-    // read in header
-    fgets(line, LINE_BUF_SIZE, fp);
-
-    fgets(line, LINE_BUF_SIZE, fp);
-
-    for (int camera_i = 0; !feof(fp); camera_i++) {
-        Array<char*> words = split_str(line, delim);
-        float x = atof(words[0]);
-        float y = atof(words[1]);
-        float z = atof(words[2]);
-        float w = atof(words[3]);
-        float i = atof(words[4]);
-        float j = atof(words[5]);
-        float k = atof(words[6]);
-
-        glm::mat4 pose = quat_to_mat4(glm::quat(w, i, j, k));
-        pose[3] = glm::vec4(x, y, z, 1);
-        // Generate axis spheres
-        for (int m = 0; m < 3; m++) {
-            for (int n = 0; n < NUM_SPHERES_PER_AXE; n++) {
-                glm::mat2x3 loc_color = glm::mat2x3(0.0);
-                loc_color[0][m] = n * SPACE_PER_SPHERE;
-                loc_color[0] = pose * glm::vec4(loc_color[0], 1);
-
-                loc_color[1] = glm::vec3(0);
-                loc_color[1][m] = 1.0f;
-                locs_out->data[camera_i*3*NUM_SPHERES_PER_AXE + m*NUM_SPHERES_PER_AXE + n] = loc_color;
-            }
-        }
-        fgets(line, LINE_BUF_SIZE, fp);
-    }
-    return true;
-}
--- a/src/live_plotter.cpp
+++ b/src/live_plotter.cpp
@@ -1,36 +1,42 @@
+#include <cassert>
 #include <windows.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <winnt.h>

 #include <cstring>
 #include <glm/ext/vector_float2.hpp>
 #include <glm/ext/vector_float4.hpp>
 #include <profileapi.h>
 #include <synchapi.h>
-#include <vector>
-#include <map>
-#include <set>
 #include <glad/glad.h>
 #include <GLFW/glfw3.h>
 #include <glm/ext/matrix_clip_space.hpp>
 #include <glm/ext/matrix_transform.hpp>
 #include <glm/ext/vector_float3.hpp>
 #include <glm/matrix.hpp>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string>
-#include <winnt.h>
-#include <algorithm>

+#include "glm/gtc/type_ptr.hpp"
+#include "sync.hpp"
 #include "util.hpp"
 #include "shaders.hpp"
 #include "body.hpp"
 #include "camera.hpp"
 #include "live_plotter.hpp"
+#include "gldebug.hpp"

-#define LERP_MOVE_PERIOD_S 0.05
-#define STOP_WAIT_TIME_MS 500
+using namespace sync;
+
+// Constants
+const char* vertex_filepath = "vertex.glsl";
+const char* fragment_filepath = "fragment.glsl";
+const float lerp_move_period_s = 0.05;
+const int stop_wait_time_ms = 500;
+const int max_point_mem = 10 << 20; // bytes

 struct Point {
    bool initialized;
+    bool replaceable;
    glm::vec3 startloc;
    glm::vec3 targetloc;
    Body b;
@@ -44,18 +50,15 @@ static double prev_cursor_x, prev_cursor_y;
 static bool mouse_pressed, scroll_pressed, stop_flag, running;
 static Camera camera;
 static Viewport viewport;
+static Thread t;
+static Mutex m;
 static uint shader;
-static CRITICAL_SECTION cs;
-static HANDLE win_thread_h;
-static DWORD win_thread_id;
 static LARGE_INTEGER fr;
-static pointid next_id = 0;
-static std::map<uint, Point*> id_to_point; // Use a pool allocator possibly later
-static std::map<Point*, uint> point_to_id;

-// Constants
-const char* vertex_filepath = "src/shaders/vertex.glsl";
-const char* fragment_filepath = "src/shaders/fragment.glsl";
+constexpr int point_buf_len
+    = max_point_mem / sizeof(Point); // ~max_point_mem bytes of points. does not include vertex data for obj
+static Point* point_buf = (Point*)malloc(point_buf_len * sizeof(Point));
+static int point_buf_i = 0;

 // Private foward decls
 void _resize_cb(GLFWwindow* win, int w, int h);
@@ -67,15 +70,19 @@ bool _glfw_setup();
 void _refresh_win();
 double _time();

-DllExport bool __cdecl start(int win_w, int win_h) {
-    if (!InitializeCriticalSectionAndSpinCount(&cs, 0x00000400))
-        return false;

+extern DllExport bool __cdecl start(int win_w, int win_h) {
    if (running) {
        printf("Already running! Call stop before calling stop again\n");
        return false;
    }

+    m = make_mutex();
+
+    for (int i = 0; i < point_buf_len; i++) {
+        point_buf[i].replaceable = true;
+    }
+
    if (!QueryPerformanceFrequency(&fr)) {
        printf("Failed to get the performance counter frequency.\n");
        return false;
@@ -84,84 +91,92 @@ DllExport bool __cdecl start(int win_w, int win_h) {
    glm::vec2* winsize = (glm::vec2*)malloc(sizeof(glm::vec2));
    *winsize = glm::vec2(win_w, win_h);
    stop_flag = false;
-    win_thread_h = CreateThread(NULL, 0, _win_thread, winsize, 0, &win_thread_id);
+    t = make_thread(_win_thread, winsize);

-    running = win_thread_h != NULL;
+    running = t != NULL;
    if (!running)
        printf("Error while creating the live plotter window thread.\n");
    return running;
 }

-DllExport bool __cdecl stop() {
+extern DllExport bool __cdecl stop() {
    stop_flag = true;
-    DWORD res = WaitForSingleObject(win_thread_h, STOP_WAIT_TIME_MS);
+    DWORD res = WaitForSingleObject(t, stop_wait_time_ms);
    bool success = res == WAIT_OBJECT_0;
    running = !success; // Consider the app still running if we didn't shut down properly...?

    // TODO: Please wrap away win api synch stuff. thank you
-    if (!running) DeleteCriticalSection(&cs);
+    if (!running)
+        dispose(m);
    return success;
 }

-DllExport pointid __cdecl create_point(float x, float y, float z) { 
-    EnterCriticalSection(&cs);
+extern DllExport pointid __cdecl create_point(float x, float y, float z) {
+    lock(m);

-    Point* p = (Point*)malloc(sizeof(Point));
-    *p = { 
+    // TODO: This system is really stupid. Please fix
+    // Also what happens if there isn't a replaceable point?
+    int slot = -1;
+    int start_loc = point_buf_i;
+    do {
+        if (point_buf[point_buf_i % point_buf_len].replaceable) {
+            slot = point_buf_i % point_buf_len;
+            break;
+        }
+        point_buf_i++;
+    } while (point_buf_i != start_loc);
+
+    assert(slot > -1);
+
+    point_buf[slot] = {
        .initialized = false,
+        .replaceable = false,
        .startloc = glm::vec3(x, y, z),
        .targetloc = glm::vec3(x, y, z),
        .lifetime_s = INFINITY,
        .start_s = _time() 
    };
-    p->b.scale = 1.0f;
-    p->b.color = glm::vec4(randf() + 0.1, randf() + 0.1, randf() + 0.1, 1);
-
-    pointid id = next_id++;
-    id_to_point[id] = p;
-    point_to_id[p] = id;
-    LeaveCriticalSection(&cs);
-    return id;
+    point_buf[slot].b.scale = 1.0f;
+    point_buf[slot].b.color = glm::vec4(randf() + 0.1, randf() + 0.1, randf() + 0.1, 1);
+    unlock(m);
+    return slot;
 }

-DllExport void __cdecl set_color(pointid id, float r, float g, float b) { 
-    EnterCriticalSection(&cs);
-    Point* p = id_to_point[id];
-    p->b.color = { r, g, b, p->b.color[3] };
-    LeaveCriticalSection(&cs);
+extern DllExport void __cdecl set_color(pointid id, float r, float g, float b) {
+    lock(m);
+    Point &p = point_buf[id % point_buf_len];
+    p.b.color = { r, g, b, p.b.color[3] };
+    unlock(m);
 }

-DllExport void __cdecl set_scale(pointid id, float scale) {
-    EnterCriticalSection(&cs);
-    Point* p = id_to_point[id];
-    p->b.scale = scale;
-    LeaveCriticalSection(&cs);
+extern DllExport void __cdecl set_scale(pointid id, float scale) {
+    lock(m);
+    Point &p = point_buf[id % point_buf_len];
+    p.b.scale = scale;
+    unlock(m);
 }

-DllExport void __cdecl update_point(pointid id, float x, float y, float z) {
-    EnterCriticalSection(&cs);
-    Point* p = id_to_point[id];
-    p->targetloc = { x, y, z };
-    p->startloc = p->b.pose[3];
-    p->start_s = _time();
-    LeaveCriticalSection(&cs);
+extern DllExport void __cdecl update_point(pointid id, float x, float y, float z) {
+    lock(m);
+    Point &p = point_buf[id % point_buf_len];
+    p.targetloc = { x, y, z };
+    p.startloc = p.b.pose[3];
+    p.start_s = _time();
+    unlock(m);
 }

-DllExport void __cdecl set_lifetime(pointid id, float new_lifetime_s) {
-    EnterCriticalSection(&cs);
-    Point* p = id_to_point[id];
-    p->start_s = _time();
-    p->lifetime_s = new_lifetime_s;
-    LeaveCriticalSection(&cs);
+extern DllExport void __cdecl set_lifetime(pointid id, float new_lifetime_s) {
+    lock(m);
+    Point &p = point_buf[id % point_buf_len];
+    p.start_s = _time();
+    p.lifetime_s = new_lifetime_s;
+    unlock(m);
 }

-DllExport void __cdecl clear_point(pointid id) {
-    EnterCriticalSection(&cs);
-    Point* p = id_to_point[id];
-    id_to_point.erase(id);
-    point_to_id.erase(p);
-    free(p);
-    LeaveCriticalSection(&cs);
+extern DllExport void __cdecl clear_point(pointid id) {
+    lock(m);
+    point_buf[id % point_buf_len].replaceable = true;
+    unlock(m);
 }

 void _resize_cb(GLFWwindow* win, int w, int h) {
@@ -192,9 +207,9 @@ void _scroll_cb(GLFWwindow* win, double xoffset, double yoffset) { zoom_camera(c

 DWORD _win_thread(LPVOID args) {
    glm::vec2* winsize = (glm::vec2*)args;
-    camera = make_camera({ 0, 0, 0 }, 3000);
-    camera.theta = glm::radians(90.0f);
-    camera.phi = glm::radians(30.0f);
+    camera = make_camera({ 182.20, -787.72, -817.17 }, 2720);
+    camera.theta = 4.96;
+    camera.phi = 0.842;
    viewport = make_viewport(winsize->x, winsize->y, 45.0f);
    if (!_glfw_setup()) {
        printf("Failed to initialize glfw window\n");
@@ -206,10 +221,22 @@ DWORD _win_thread(LPVOID args) {
        return -1;
    }

+    printf("Open GL Vendor: %s\n", glGetString(GL_VENDOR));
+    printf("Open GL Renderer: %s\n", glGetString(GL_RENDERER));
+    printf("Open GL Version: %s\n", glGetString(GL_VERSION));
+    printf("Open GL Shader Language Version: %s\n", glGetString(GL_SHADING_LANGUAGE_VERSION));
+
+    // Enable debug messages
+    glEnable(GL_DEBUG_OUTPUT);
+    glEnable(GL_DEBUG_OUTPUT_SYNCHRONOUS);
+    glDebugMessageCallback(gl_debug_cb, 0);
+    glDebugMessageControl(GL_DONT_CARE, GL_DONT_CARE, GL_DONT_CARE, 0, nullptr, GL_TRUE);
+
    if (!load_shader(&shader, vertex_filepath, fragment_filepath)) {
        printf("Failed to compile shaders\n");
        return -1;
    }
+    use_shader(shader);

    // This swapping bit is probably unnecessary now that I clear in the loop.
    // I was getting a flashing issue during the tutorial...
@@ -230,9 +257,11 @@ DWORD _win_thread(LPVOID args) {

 bool _glfw_setup() {
    glfwInit();
-    glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
+    glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 4);
    glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
+    glfwWindowHint(GLFW_OPENGL_DEBUG_CONTEXT, GL_TRUE);
    glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
+
    win = glfwCreateWindow(viewport.width, viewport.height, "LivePlotter", NULL, NULL);
    if (win == NULL) {
        printf("Failed to create GLFW window\n");
@@ -254,29 +283,32 @@ void _refresh_win() {
    set_uniform(shader, "camera_t", world_to_camera(camera));
    set_uniform(shader, "projection_t", camera_to_projection(viewport));

-    if (TryEnterCriticalSection(&cs)) {
-        for (const auto& [id, p] : id_to_point) {
+    if (trylock(m)) {
+        for (int i = 0; i < point_buf_len; i++) {
+            Point &p = point_buf[i];
+            if (p.replaceable) continue;
+
            // Initialize if not done so yet
-            if (!p->initialized) {
-                create_new_sphere(&p->b, p->b.scale);
-                p->b.shader = shader;
-                p->b.pose = glm::translate(glm::mat4(1), p->startloc);
-                p->initialized = true;
+            if (!p.initialized) {
+                create_new_sphere(&p.b, p.b.scale, p.b.color);
+                p.b.shader = shader;
+                p.b.pose = glm::translate(glm::mat4(1), p.startloc);
+                p.initialized = true;
            }

            // Perform fade
-            double elapsed_time_s = _time() - p->start_s;
-            float t = elapsed_time_s / p->lifetime_s;
-            t = std::clamp(t, 0.0f, 1.0f);
-            p->b.color.w = lerp(1.0, 0.0, t);
+            double elapsed_time_s = _time() - p.start_s;
+            float t = elapsed_time_s / p.lifetime_s;
+            t = glm::clamp(t, 0.0f, 1.0f);
+            p.b.color.w = lerp(1.0, 0.0, t);

            // Lerp position
-            t = elapsed_time_s / LERP_MOVE_PERIOD_S;
-            t = std::clamp(t, 0.0f, 1.0f);
-            p->b.pose[3] = glm::vec4(lerp(p->startloc, p->targetloc, t), 1);
-            draw_body(p->b);
+            t = elapsed_time_s / lerp_move_period_s;
+            t = glm::clamp(t, 0.0f, 1.0f);
+            p.b.pose[3] = glm::vec4(lerp(p.startloc, p.targetloc, t), 1);
+            draw_body(p.b);
        }
-        LeaveCriticalSection(&cs);
+        unlock(m);
    }
    glfwSwapBuffers(win);
    glfwPollEvents();
@@ -290,4 +322,3 @@ double _time() {
    }
    return (double)timeticks.QuadPart / (double)fr.QuadPart;
 }
-
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,46 +0,0 @@
-//#include <iostream>
-//#include <string>
-//#include <map>
-//
-//#include "camera_poses.hpp"
-//#include "live_plotter.hpp"
-//
-//static std::map<std::string, pointid> name_to_id;
-//
-//int main() {
-//    Array<glm::mat2x3> camera_pose_axes = { NULL, 0 };
-//    if (!parse_poses(&camera_pose_axes, "poses.csv")) {
-//        return -1;
-//    }
-//
-//    start(800, 800);
-//   
-//    for (int i = 0; i < camera_pose_axes.len; i++) {
-//        glm::vec3 p = camera_pose_axes[i][0];
-//        glm::vec3 color = camera_pose_axes[i][1];
-//        pointid id = create_point(p.x, p.y, p.z);
-//        set_color(id, color.x, color.y, color.z);
-//        set_scale(id, 10);
-//    }
-//
-//    while (true) {
-//        std::string line;
-//        std::getline(std::cin, line);
-//        Array<char*> words = split_str(line.c_str());
-//        if (!words.len == 4)
-//            return NULL;
-//        printf("Received: %s, %s, %s, %s\n", words[0], words[1], words[2], words[3]); // echo for debugging
-//        std::string name = std::string(words[0]);
-//        float x = atof(words[1]);
-//        float y = atof(words[2]);
-//        float z = atof(words[3]);
-//
-//        if (auto it = name_to_id.find(name); it != name_to_id.end()) {
-//            update_point(it->second, x, y, z);
-//        } else {
-//            name_to_id[name] = create_point(x, y, z);
-//            set_lifetime(name_to_id[name], 0.2);
-//            set_scale(name_to_id[name], 15);
-//        }
-//    }
-//}
--- a/src/shaders.cpp
+++ b/src/shaders.cpp
@@ -68,24 +68,24 @@ void set_uniform(uint id, const char* name, uniform_variant value) {
 }

 bool _compile_shader(uint *out_id, const char* filepath, int shader_type) {
-    Array<char> source;
+    std::string source;
    if (!read_file(&source, filepath))
        return false;

    uint id = glCreateShader(shader_type);
-    glShaderSource(id, 1, &source.data, (int*)&source.len);
+    int sz = source.size();
+    const char* data = source.c_str();
+    glShaderSource(id, 1, &data, &sz);
    glCompileShader(id);

-    free(source.data);
-
    int status;
    glGetShaderiv(id, GL_COMPILE_STATUS, &status);
    if (status == GL_FALSE) {
        char err_msg[MAX_ERR_MSG_LEN];
        glGetShaderInfoLog(id, MAX_ERR_MSG_LEN, NULL, err_msg);
        printf("Error compiling shader %s\n", filepath);
-        printf("%.*s\n", (int)source.len, source.data);
        printf("Error msg: %s\n", err_msg);
+	return false;
    }
    *out_id = id;
    return status == GL_TRUE;
--- a/src/util.cpp
+++ b/src/util.cpp
@@ -1,94 +1,22 @@
-#include <cstdio>
-#include <assert.h>
-#include <cstring>
-#include <cwctype>
-#include <stdlib.h>
-#include <glm/ext/quaternion_float.hpp>
-#include <glm/mat4x4.hpp>
-
 #include "util.hpp"
-#include "body.hpp"

-Array<char*> _split_str_inner(const char* s, char delim, bool just_check_ws);
+using namespace std;

-template<class T> void append(Array<T>& a, T el) {
-    if (a.len == a.cap) {
-        resize(a, std::max((size_t)8, a.cap * 2));
-    }
-    a[a.len] = el;
-    a.len++;
-}
-
-template<class T> T pop(Array<T>& a) {
-    assert(a.len >= 1);
-    a.len--;
-    return a.data[a.len + 1];
-}
-
-template<class T> void resize(Array<T>& a, size_t new_cap) {
-    T* new_data = (T*)malloc(sizeof(T) * new_cap);
-    if (a.len > 0) {
-        memcpy(new_data, a.data, std::min(a.len, new_cap));
-    }
-    free(a.data);
-    a.data = new_data;
-    a.len = std::min(a.len, new_cap);
-    a.cap = new_cap;
-}
-
-template<class T> void clear(Array<T>& a) {
-    a.len = 0;
-}
-
-bool read_file(Array<char>* out, const char* filepath) {
-    FILE* fp = NULL;
-    if (fopen_s(&fp, filepath, "rb") != 0) {
-        printf("ERROR Failed to open file %s\n", filepath);
+bool read_file(string* s, const char* filepath) {
+    ifstream file(filepath);
+    if (!file.is_open()) {
        return false;
    }
-
-    fseek(fp, 0L, SEEK_END);
-    size_t sz = ftell(fp);
-    fseek(fp, 0, SEEK_SET);
-
-    char* data = (char*)malloc(sizeof(char) * sz);
-    fread(data, sizeof(char), sz, fp);
-    fclose(fp);
-    out->data = data;
-    out->len = sz;
+    *s = { istreambuf_iterator<char>(file), istreambuf_iterator<char>() };
    return true;
 }

-Array<char*> split_str(const char* s, char delimiter) { return _split_str_inner(s, delimiter, false); }
-
-Array<char*> split_str(const char* s) { return _split_str_inner(s, ' ', true); }
-
-Array<char*> _split_str_inner(const char* s, char delim, bool just_check_ws) {
-    Array<char*> res = { NULL, 0, 0 };
-
-    char c;
-    int i = 0;
-    Array<char> cur_word = { NULL, 0, 0 };
-    while (true) {
-        c = s[i++];
-        bool is_delim = just_check_ws ? iswspace(c) : c == delim;
-        if ((is_delim || c == '\0') && cur_word.len > 0) {
-            char* word = (char*)malloc(sizeof(char) * cur_word.len + 1);
-            memcpy(word, cur_word.data, cur_word.len);
-            word[cur_word.len] = '\0';
-            append(res, word);
-            clear(cur_word);
-            if (c == '\0') {
-                break;
-            }
-            continue;
-        } else {
-            append(cur_word, c);
-        }
-
-        if (c == '\0') {
-            break;
-        }
+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;
 }
@@ -109,6 +37,4 @@ glm::mat4 quat_to_mat4(glm::quat q) {
    return glm::mat4(col0, col1, col2, col3);
 }

-float randf() {
-    return (float)rand() / (float)RAND_MAX;
-}
+float randf() { return (float)abs(rand()) / (float)RAND_MAX; }
--- a/tester.py
+++ b/tester.py
@@ -1,22 +0,0 @@
-import numpy as np
-import subprocess
-from pathlib import Path
-import time
-
-p = subprocess.Popen(Path("bin", "x64", "Debug", "LivePlotter.exe"), stdin=subprocess.PIPE)
-
-lines = None
-with open("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()
Author	SHA1	Message	Date
shamilton	b2f27e0ec0	Update README.md	2025-09-16 23:45:24 +00:00
shamilton	b4a53e4f58	Update README.md	2025-09-15 17:20:45 +00:00
shamilton	fff343cdfb	readme mods	2025-09-15 17:08:50 +00:00
Seth Hamilton	5ccd71c285	Remove reference to git bash (no longer necessary)	2025-09-15 12:06:24 -05:00
Seth Hamilton	ffd11d0995	Need the -LD flag for both configs to build a DLL. More: https://learn.microsoft.com/en-us/cpp/build/reference/md-mt-ld-use-run-time-library?view=msvc-170	2025-09-15 11:57:06 -05:00
Seth Hamilton	cb6d239d00	readme mods. can build with glfw in either Debug or Release config. some reorg of the cpp example	2025-09-15 11:53:24 -05:00
Seth Hamilton	6d45d12dc1	Save cs example into an actual project	2025-09-15 11:22:27 -05:00
Seth Hamilton	e77dfde1bc	reorganize to use .bat files instead of .sh. Move demo to an example project	2025-09-15 10:58:01 -05:00
Seth Hamilton	530dea9728	fix path to LivePlotter.cs	2025-09-15 09:25:51 -05:00
Seth Hamilton	8b38b8feff	fix spelling mistake	2025-09-15 09:25:04 -05:00
Seth Hamilton	d686ad7799	remove hacky testing script	2025-09-15 09:23:09 -05:00
Seth Hamilton	11d8e9a865	move csharp example to examples folder	2025-09-15 09:22:23 -05:00
Seth Hamilton	69d5ef09bf	ignore future compile command files	2025-09-15 09:21:09 -05:00
Seth Hamilton	2b9316f9d2	remove compile_commands.json. update glfw	2025-09-15 09:19:59 -05:00
Seth Hamilton	2c20254c23	readme mods	2025-09-12 09:43:28 -05:00
Seth Hamilton	90c3023618	readme mods	2025-09-11 14:47:54 -05:00
Seth Hamilton	60ad2c5da5	readme mods	2025-09-11 14:37:56 -05:00
Seth Hamilton	bedb7d93e9	remove unneeded files	2025-09-11 14:31:16 -05:00
Seth Hamilton	7f0d52c3a0	Add readme and example csharp dll interface class.	2025-09-11 14:30:05 -05:00
Seth Hamilton	6d47b81b1f	demo worthy. Plenty more work could be done, but not terrible	2025-09-11 13:21:53 -05:00
Seth Hamilton	2821847ce2	Can build the project. Now trying to isolate opengl problem	2025-09-11 08:23:02 -05:00
Seth Hamilton	2d38f74371	saving alternate build method. About to go back to regular visual studio build, but may pursue this approach in the future	2025-09-09 09:44:15 -05:00
Seth Hamilton	7c4f089f2e	should refer to faces array directly (not pointer to pointer)	2025-09-06 10:52:19 -05:00
Seth Hamilton	1c7a9900be	pool allocation. not working. not sure why. will travel back in time...	2025-09-05 11:21:34 -05:00
Seth Hamilton	75e72ba9ca	cleanup build. add demo project. add timing features to sync. switch to more std::string and std::vector usage over custom, hacky Array template	2025-09-01 21:56:43 -05:00
Seth Hamilton	b4e90dce4d	Different local glfw buildd ¯_(ツ)_/¯	2025-08-26 13:24:09 -05:00
Seth Hamilton	d0c1d9fb93	func names are no longer mangled to death	2025-08-25 18:22:23 -05:00
Seth Hamilton	e626c94f4a	define DllExport inside live_plotter.hpp instead of util.hpp	2025-08-25 04:43:55 -05:00
Seth Hamilton	8901a0872a	refer to all directories from the project dir and not the solution dir (for instances where the solution dir is outside the project dir	2025-08-25 04:31:00 -05:00
Seth Hamilton	b79017bd43	Merge pull request #1 from shamilton801/dll-conversion Major Refactor + Now can build to a DLL instead of a .exe	2025-08-25 04:22:37 -05:00
				`@@ -0,0 +1 @@`
				`"C:\Program Files\Microsoft Visual Studio\2022\Community\VC\Auxiliary\Build\vcvars64.bat"`