Merge branch 'unstable' into trackhat-ui

Sponsored-by: TrackHat

* unstable: (112 commits)
  Revert "accela: try more complex deadzone algorithm"
  pt: add wiki link for calibration instructions
  qfc: more gray colors when graph is disabled
  qfc, mapping: disallow editing and change color when checkbox disabled
  qfc: don't allow editing when disabled
  plugin-support: workaround multiple copies of modules
  accela: change translation gain
  accela: change rotation gain
  pt: change extraction code
  freepie-udp: add license
  freepie-udp: update
  accela: try more complex deadzone algorithm
  accela: add helpful comment
  accela: revert to more quadratic spline at start
  also save if save pending when start tracking
  ui: force saving if saving timer is pending
  accela: slightly more linear function
  pose-widget: simplify
  freepie-udp: nix harmless warning
  pose-widget: add comment
  simple-mat: add __restrict for GNU
  ui: save settings on a timer
  ui: show a warning if configuration directory can't be used
  aruco: tune min/max marker size
  win32-joystick: fix duplicate device name selection logic
  ui: no need to reset settings on tracking start
  ui: save profile when combobox text changes, not merely index
  ui: save current tracker/filter/proto, not last
  win32-joystick: fix COM failure path
  win32-joystick: nix unused variable
  win32-joystick: allow for unique selection of joysticks
  qfc: also draw line from function start while moving
  no need to save on tracking start anymore
  save axis opts, not just spline control points
  tracker: change centering order again
  fix typo
  cmake: don't say "opentrack" twice for osx build
  ui: really don't switch profiles while refreshing combobox
  pt: fix type mismatch
  ui: save prior to switching configs
  tracker_rs: adjusted tracker's name
  ui: don't reload settings if config wasn't changed
  ui: save everything before switching profiles
  options: return .ini basename easier
  tracker_rs: more readable icon
  tracker_rs: prevent potential thread starvation
  ui: switch to newly-created config
  ui: decruft
  ui: also bail on new config if its name is ".ini"
  ui: auto-refresh config list
  ui: display up to 20 profiles w/o scrolling
  ui: create an empty config properly in another code branch
  udp-tracker: silence harmless warning
  plugin-support: fix typo
  plugin-support: set more sane RTLD flags
  plugin-support: free modules from address space when needed
  ui: rename symbol to reflect current usage
  ui: move some slots to private
  ui, shortcuts: these are slots, actually
  ui: no need to write anything to new empty config
  ui: avoid potential memory leak
  ft: new game support
  game-data: chomp newlines in extractor
  ui: append extension in the right place
  simple-mat: fix arglist SFINAE
  simple-mat: can use static_cast here
  nix default empty config. it gets created on its own.
  ui: these aren't qt slots
  ui: nix wrong headers
  ui: remove GNU GPL
  ui: simplify condition
  props changed only
  main, ui: store config files in a predefined directory
  pt: show extracted points' areas and success count
  close dialogs on switch to new module
  ...

2 files changed, 56 insertions, 60 deletions

diff --git a/pose-widget/glwidget.cpp b/pose-widget/glwidget.cpp
index 8fbe046e..2cb858d7 100644
--- a/pose-widget/glwidget.cpp
+++ b/pose-widget/glwidget.cpp
@@ -31,38 +31,37 @@ void GLWidget::paintEvent ( QPaintEvent * event ) {
     p.drawImage(event->rect(), texture);
 }
 
-void GLWidget::rotateBy(double xAngle, double yAngle, double zAngle, double x, double y, double z)
+void GLWidget::rotateBy(float xAngle, float yAngle, float zAngle, float x, float y, float z)
 {
 
-    double c1 = cos(yAngle / 57.295781);
-    double s1 = sin(yAngle / 57.295781);
-    double c2 = cos(xAngle / 57.295781);
-    double s2 = sin(xAngle / 57.295781);
-    double c3 = cos(zAngle / 57.295781);
-    double s3 = sin(zAngle / 57.295781);
-
-    double foo[] = {
-        c2*c3,  -c2*s3,  s2,
-        c1*s3+c3*s1*s2,  c1*c3-s1*s2*s3,  -c2*s1,
-        s1*s3-c1*c3*s2,  c3*s1+c1*s2*s3,  c1*c2,
-    };
-    
-    rotation = rmat(foo);
-    translation = vec3({x, y, z});
+    float c1 = cos(yAngle / 57.295781);
+    float s1 = sin(yAngle / 57.295781);
+    float c2 = cos(xAngle / 57.295781);
+    float s2 = sin(xAngle / 57.295781);
+    float c3 = cos(zAngle / 57.295781);
+    float s3 = sin(zAngle / 57.295781);
+
+    rotation = rmat(c2*c3,           -c2*s3,          s2,
+                    c1*s3+c3*s1*s2,  c1*c3-s1*s2*s3,  -c2*s1,
+                    s1*s3-c1*c3*s2,  c3*s1+c1*s2*s3,  c1*c2);
+    translation = vec3(x, y, z);
 
     update();
 }
 
 
 class Triangle {
+    using num = GLWidget::num;
+    using vec2 = GLWidget::vec2;
+    using vec3 = GLWidget::vec3;
 public:
     Triangle(const vec2& p1,
              const vec2& p2,
              const vec2& p3)
     {
         origin = p1;
-        v0 = vec2({ p3.x() - p1.x(), p3.y() - p1.y() });
-        v1 = vec2({ p2.x() - p1.x(), p2.y() - p1.y() });
+        v0 = vec2(p3.x() - p1.x(), p3.y() - p1.y());
+        v1 = vec2(p2.x() - p1.x(), p2.y() - p1.y());
         dot00 = v0.dot(v0);
         dot01 = v0.dot(v1);
         dot11 = v1.dot(v1);
@@ -70,28 +69,28 @@ public:
     }
     bool barycentric_coords(const vec2& px, vec2& uv) const
     {
-        vec2 v2 = px - origin;
-        double dot12 = v1.dot(v2);
-        double dot02 = v0.dot(v2);
-        double u = (dot11 * dot02 - dot01 * dot12) * invDenom;
-        double v = (dot00 * dot12 - dot01 * dot02) * invDenom;
-        uv = vec2({u, v});
+        const vec2 v2 = px - origin;
+        const num dot12 = v1.dot(v2);
+        const num dot02 = v0.dot(v2);
+        const num u = (dot11 * dot02 - dot01 * dot12) * invDenom;
+        const num v = (dot00 * dot12 - dot01 * dot02) * invDenom;
+        uv = vec2(u, v);
         return (u >= 0) && (v >= 0) && (u + v <= 1);
     }
     
 private:
-    double dot00, dot01, dot11, invDenom;
+    num dot00, dot01, dot11, invDenom;
     vec2 v0, v1, origin;
 };
 
-static __inline vec3 normal(const vec3& p1, const vec3& p2, const vec3& p3)
+inline GLWidget::vec3 GLWidget::normal(const vec3& p1, const vec3& p2, const vec3& p3)
 {
     vec3 u = p2 - p1;
     vec3 v = p3 - p1;
      
     vec3 tmp = u.cross(v);
     
-    double i = 1./sqrt(tmp.dot(tmp));
+    num i = 1./sqrt(tmp.dot(tmp));
     
     return tmp * i;
 }
@@ -100,19 +99,16 @@ void GLWidget::project_quad_texture() {
     const int sx = width(), sy = height();
     vec2 pt[4];
     const vec3 corners[] = {
-        vec3({0., 0., 0.}),
-        vec3({sx-1., 0., 0.}),
-        vec3({0., sy-1., 0.}),
-        vec3({sx-1., sy-1., 0.})
+        vec3(0., 0, 0),
+        vec3(sx-1, 0, 0),
+        vec3(0, sy-1, 0),
+        vec3(sx-1, sy-1, 0.)
     };
     
-    for (int i = 0; i < 4; i++) {
-        pt[i] = project(vec3({corners[i].x() - sx/2., corners[i].y() - sy/2., 0}));
-        pt[i].x() += sx/2.;
-        pt[i].y() += sy/2.;
-    }
+    for (int i = 0; i < 4; i++)
+        pt[i] = project(vec3(corners[i].x() - sx/2, corners[i].y() - sy/2, 0)) + vec2(sx/2, sy/2);
     
-    vec3 normal1({0, 0, 1});
+    vec3 normal1(0, 0, 1);
     vec3 normal2;
     {
         vec3 foo[3];
@@ -121,24 +117,20 @@ void GLWidget::project_quad_texture() {
         normal2 = normal(foo[0], foo[1], foo[2]);
     }
     
-    double dir = normal1.dot(normal2);
+    num dir = normal1.dot(normal2);
     
     QImage& tex = dir < 0 ? back : front;
     
     int ow = tex.width(), oh = tex.height();
 
-    vec2 p2[4];
-
-    for (int i = 0; i < 4; i++)
-        p2[i] = vec2({pt[i].x(), pt[i].y()});
     QImage texture(QSize(sx, sy), QImage::Format_RGB888);
     QColor bgColor = palette().color(QPalette::Current, QPalette::Window);
     texture.fill(bgColor);
     
-    const vec2 projected[2][3] = { { p2[0], p2[1], p2[2] }, { p2[3], p2[1], p2[2] } };
+    const vec2 projected[2][3] = { { pt[0], pt[1], pt[2] }, { pt[3], pt[1], pt[2] } };
     const vec2 origs[2][3] = {
-        { vec2({0., 0.}), vec2({ow-1., 0.}), vec2({0., oh-1.}) },
-        { vec2({ow-1., oh-1.}), vec2({ow-1., 0.}), vec2({0., oh-1.}) }
+        { vec2(0, 0), vec2(ow-1, 0), vec2(0, oh-1) },
+        { vec2(ow-1, oh-1), vec2(ow-1, 0), vec2(0, oh-1) }
     };
     const Triangle triangles[2] = {
         Triangle(projected[0][0], projected[0][1], projected[0][2]),
@@ -160,9 +152,11 @@ void GLWidget::project_quad_texture() {
 
     for (int y = 0; y < sy; y++)
         for (int x = 0; x < sx; x++) {
-            vec2 pos({(double)x, (double)y});
+            vec2 pos(x, y);
             for (int i = 0; i < 2; i++) {
                 vec2 uv;
+                // XXX knowing center of the lookup pos,
+                // we have symmetry so only one lookup is needed -sh 20150831
                 if (triangles[i].barycentric_coords(pos, uv))
                 {
                     const int px = origs[i][0].x()
@@ -172,9 +166,9 @@ void GLWidget::project_quad_texture() {
                             + uv.x() * (origs[i][2].y() - origs[i][0].y())
                             + uv.y() * (origs[i][1].y() - origs[i][0].y());
                     
-                    int r = orig[py * orig_pitch + px * orig_depth + 2];
-                    int g = orig[py * orig_pitch + px * orig_depth + 1];
-                    int b = orig[py * orig_pitch + px * orig_depth + 0];
+                    const unsigned char r = orig[py * orig_pitch + px * orig_depth + 2];
+                    const unsigned char g = orig[py * orig_pitch + px * orig_depth + 1];
+                    const unsigned char b = orig[py * orig_pitch + px * orig_depth + 0];
 
                     dest[y * dest_pitch + x * dest_depth + 0] = r;
                     dest[y * dest_pitch + x * dest_depth + 1] = g;
@@ -187,21 +181,21 @@ void GLWidget::project_quad_texture() {
     this->texture = texture;
 }
 
-vec2 GLWidget::project(const vec3 &point)
+GLWidget::vec2 GLWidget::project(const vec3 &point)
 {
     vec3 ret = rotation * point;
-    double z = std::max(.75, 1. + translation.z()/-60.);
+    num z = std::max<num>(.75, 1. + translation.z()/-60);
     int w = width(), h = height();
-    double x = w * translation.x() / 2. / -40.;
+    num x = w * translation.x() / 2 / -40;
     if (std::abs(x) > w/2)
         x = x > 0 ? w/2 : w/-2;
-    double y = h * translation.y() / 2. / -40.;
+    num y = h * translation.y() / 2 / -40;
     if (std::abs(y) > h/2)
         y = y > 0 ? h/2 : h/-2;
-    return vec2 { z * (ret.x() + x), z * (ret.y() + y) };
+    return vec2(z * (ret.x() + x), z * (ret.y() + y));
 }
 
-vec3 GLWidget::project2(const vec3 &point)
+GLWidget::vec3 GLWidget::project2(const vec3 &point)
 {
     return rotation * point;
 }
diff --git a/pose-widget/glwidget.h b/pose-widget/glwidget.h
index 88961fbd..81517399 100644
--- a/pose-widget/glwidget.h
+++ b/pose-widget/glwidget.h
@@ -12,22 +12,24 @@
 #include "opentrack/plugin-api.hpp"
 #include "opentrack/simple-mat.hpp"
 
-typedef dmat<2, 1> vec2;
-typedef dmat<3, 1> vec3;
-typedef dmat<3, 3> rmat;
-
 class GLWidget : public QWidget
 {
 public:
+    using num = float;
+    using vec2 = Mat<num, 2, 1>;
+    using vec3 = Mat<num, 3, 1>;
+    using rmat = Mat<num, 3, 3>;
+
     GLWidget(QWidget *parent);
     ~GLWidget();
-    void rotateBy(double xAngle, double yAngle, double zAngle, double x, double y, double z);
+    void rotateBy(float xAngle, float yAngle, float zAngle, float x, float y, float z);
 protected:
     void paintEvent ( QPaintEvent * event ) override;
 private:
     vec2 project(const vec3& point);
     vec3 project2(const vec3& point);
     void project_quad_texture();
+    static inline vec3 normal(const vec3& p1, const vec3& p2, const vec3& p3);
     rmat rotation;
     vec3 translation;
     QImage front;