├── .gitignore
├── LICENSE
├── preview.png
├── readme.md
├── tiny-gizmo-example
    ├── CMakeLists.txt
    ├── example-main.cpp
    ├── gl-api.hpp
    ├── linalg.h
    ├── teapot.h
    ├── tiny-gizmo-example.sln
    ├── tiny-gizmo-example.vcxproj
    ├── tiny-gizmo-example.vcxproj.filters
    └── util.hpp
├── tiny-gizmo.cpp
└── tiny-gizmo.hpp


/.gitignore:
--------------------------------------------------------------------------------
 1 | # User-specific files
 2 | *.suo
 3 | *.user
 4 | 
 5 | # Build results
 6 | [Dd]ebug/
 7 | [Rr]elease/
 8 | [Oo]bj/
 9 | 
10 | *.ilk
11 | *.obj
12 | *.pch
13 | *.pdb
14 | *.log
15 | 
16 | # Visual C++ cache files
17 | ipch/
18 | *.opensdf
19 | *.sdf
20 | *.VC.*
21 | 
22 | # Visual Studio profiler
23 | *.psess
24 | *.vsp
25 | *.vspx
26 | 
27 | intermediate/
28 | build/
29 | assets/
30 | *.mesh
31 | 
32 | .DS_Store
33 | 


--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
 1 | This is free and unencumbered software released into the public domain.
 2 | 
 3 | Anyone is free to copy, modify, publish, use, compile, sell, or
 4 | distribute this software, either in source code form or as a compiled
 5 | binary, for any purpose, commercial or non-commercial, and by any
 6 | means.
 7 | 
 8 | In jurisdictions that recognize copyright laws, the author or authors
 9 | of this software dedicate any and all copyright interest in the
10 | software to the public domain. We make this dedication for the benefit
11 | of the public at large and to the detriment of our heirs and
12 | successors. We intend this dedication to be an overt act of
13 | relinquishment in perpetuity of all present and future rights to this
14 | software under copyright law.
15 | 
16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17 | EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18 | MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
19 | IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
20 | OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
21 | ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
22 | OTHER DEALINGS IN THE SOFTWARE.
23 | 
24 | For more information, please refer to <http://unlicense.org>
25 | 


--------------------------------------------------------------------------------
/preview.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/meshula/tinygizmo/3dd4d382924e3d90060b8214a50fe57aa0aa58e8/preview.png


--------------------------------------------------------------------------------
/readme.md:
--------------------------------------------------------------------------------
 1 | # tinygizmo
 2 | 
 3 | <p align="center">
 4 |   <img src="https://raw.githubusercontent.com/ddiakopoulos/tinygizmo/master/preview.png"/>
 5 | </p>
 6 | 
 7 | This project is a lightweight, self-contained library for gizmo editing commonly found in many game engines. It includes mechanisms for manipulating 3d position, rotation, and scale. Implemented in C++11, the library does not perform rendering directly and instead provides a per-frame buffer of world-space triangles. 
 8 | 
 9 | An included example is built on top of GLFW (with an OpenGL 3.3 context). Known limitations include hardcoded assumptions about a right-handed, Y-up coordinate system. While the gizmos are provided with vertex normals, the example does not perform any fancy shading. Furthermore, mouse-drag input with certain gizmos at extreme interaction grazing angles is known to produce anomalous output. 
10 | 
11 | # Motivation
12 | 
13 | This project was born out of mild frustration with other immediate-mode gizmo libraries. Instead of 4x4 matrices and euler angles, the library exposes a `rigid_transform` consisting of a 3d position, rotation quaternion, and scale. The library is implemented in around 1200 lines of code, which also includes a complete 3d math library in ~400 LoC - [linalg.h](https://github.com/sgorsten/linalg). Alternatives include [ImGuizmo](https://github.com/CedricGuillemet/ImGuizmo) and [Im3D](https://github.com/john-chapman/im3d). Tinygizmo fits in-between these projects by being fully self-contained (no dependency on Dear ImGui), and by being provided in the public domain. 
14 | 
15 | # Features
16 | * Both axis-aligned global and object-local transform modes for translational and rotational gizmos
17 | * Optional ability draw the gizmos with a constant screen-space scale
18 | * Snap-to-unit (both linear and angular)
19 |   * Set any of the `snap_` values in the `gizmo_application_state` struct. 
20 | * VR ready (the user must call `update(...)` and `draw()` for each eye)
21 | * Hotkeys for transitioning between translation, rotation, and scaling:
22 |   * `ctrl-t` to activate the translation gizmo
23 |   * `ctrl-r` to activate the rotation gizmo
24 |   * `ctrl-s` to activate the scale gizmo
25 |   * `ctrl-l` to toggle between global and local transform modes
26 | 
27 | # Attribution
28 | 
29 | This project would not have been possible without reference implementations in the public-domain [workbench](https://github.com/sgorsten/workbench) project. 
30 | 
31 | # License 
32 | 
33 | This is free and unencumbered software released into the public domain. For more information, please refer to <http://unlicense.org>


--------------------------------------------------------------------------------
/tiny-gizmo-example/CMakeLists.txt:
--------------------------------------------------------------------------------
  1 | 
  2 | cmake_minimum_required(VERSION 3.12)
  3 | project(tinygizmo_example VERSION 0.1.0 LANGUAGES C CXX)
  4 | set_property(GLOBAL PROPERTY USE_FOLDERS ON)
  5 | 
  6 | set(CMAKE_CXX_STANDARD 14)
  7 | set(CMAKE_CXX_STANDARD_REQUIRED ON)
  8 | set(CMAKE_CXX_EXTENSIONS OFF)
  9 | 
 10 | if (WIN32)
 11 |     set (PLATFORM_DEFS
 12 |         WIN32_LEAN_AND_MEAN
 13 |         NOMINMAX
 14 |         _CRT_SECURE_NO_WARNINGS
 15 |     )
 16 | endif()
 17 | 
 18 | # Because rpaths have to be as fiendishly difficult as possible on Mac:
 19 | if (APPLE)
 20 | 
 21 | # use, i.e. don't skip the full RPATH for the build tree
 22 | set(CMAKE_SKIP_BUILD_RPATH FALSE)
 23 | 
 24 | # when building, don't use the install RPATH already
 25 | # (but later on when installing)
 26 | set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
 27 | 
 28 | set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
 29 | 
 30 | # add the automatically determined parts of the RPATH
 31 | # which point to directories outside the build tree to the install RPATH
 32 | set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 33 | 
 34 | # the RPATH to be used when installing, but only if it's not a system directory
 35 | list(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/lib" isSystemDir)
 36 | if("${isSystemDir}" STREQUAL "-1")
 37 |     set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
 38 | endif("${isSystemDir}" STREQUAL "-1")
 39 | 
 40 | endif()
 41 | 
 42 | 
 43 | set(TINYGIZMO_EXAMPLE_SRC
 44 |     example-main.cpp
 45 |     gl-api.hpp
 46 |     teapot.h
 47 |     util.hpp
 48 | )
 49 | 
 50 | if(APPLE)
 51 |     set(TINYGIZMO_DEFS
 52 |     )
 53 | else()
 54 |     set(TINYGIZMO_DEFS
 55 |     )
 56 | endif()
 57 | 
 58 | find_package(glfw3 REQUIRED)
 59 | find_package(glew REQUIRED)
 60 | 
 61 | #-------------------------------------------------------------------------------
 62 | # tinygizmo
 63 | #-------------------------------------------------------------------------------
 64 | 
 65 | if (WIN32)
 66 | endif()
 67 | 
 68 | set(TINYGIZMO_SRC
 69 |     ../tiny-gizmo.cpp
 70 |     ../tiny-gizmo.hpp
 71 | )
 72 | 
 73 | add_library(tinygizmo STATIC ${TINYGIZMO_SRC})
 74 | target_include_directories(tinygizmo SYSTEM
 75 |     PUBLIC ..)
 76 | target_compile_definitions(tinygizmo PRIVATE
 77 |     ${PLATFORM_DEFS}
 78 | )
 79 | 
 80 | #-------------------------------------------------------------------------------
 81 | # tinygizmo_example
 82 | #-------------------------------------------------------------------------------
 83 | 
 84 | add_executable(tinygizmo_example
 85 |     ${TINYGIZMO_EXAMPLE_SRC}
 86 | )
 87 | 
 88 | set_target_properties(tinygizmo_example PROPERTIES
 89 |                       RUNTIME_OUTPUT_DIRECTORY bin)
 90 | 
 91 | target_compile_definitions(tinygizmo_example PRIVATE
 92 |     ${PLATFORM_DEFS}
 93 | )
 94 | 
 95 | target_include_directories(tinygizmo_example
 96 |     PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src
 97 |     PRIVATE ${GLEW_INCLUDE_DIR}
 98 |     )
 99 | 
100 | if (WIN32)
101 |     set(PLATFORM_LIBS ws2_32 Iphlpapi.lib opengl32.lib)
102 | elseif (APPLE)
103 | #    if(CMAKE_OSX_SYSROOT MATCHES ".*iphoneos.*")
104 | #        set(DARWIN_LIBS
105 | #            "-framework AudioToolbox"
106 | #            "-framework Accelerate"
107 | #            "-framework CoreAudio")
108 | #    else()
109 |         set(PLATFORM_LIBS
110 |             "-framework AudioToolbox"
111 |             "-framework AudioUnit"
112 |             "-framework Accelerate"
113 |             "-framework Cocoa"
114 |             "-framework CoreAudio"
115 |             "-framework Metal"
116 |             "-framework MetalKit"
117 |             "-framework QuartzCore"
118 |             "-framework OpenGL"
119 |             )
120 | #    endif()
121 | endif()
122 | 
123 | target_link_libraries(tinygizmo_example
124 |     ${PLATFORM_LIBS} ${GLEW_SHARED_LIBRARY_RELEASE} glfw tinygizmo
125 |     )
126 | 
127 | #-------------------------------------------------------------------------------
128 | # Installer
129 | #-------------------------------------------------------------------------------
130 | 
131 | install(
132 |     TARGETS tinygizmo_example
133 |     BUNDLE DESTINATION bin
134 |     ARCHIVE DESTINATION lib
135 |     LIBRARY DESTINATION lib
136 |     RUNTIME DESTINATION bin)
137 | 
138 | 


--------------------------------------------------------------------------------
/tiny-gizmo-example/example-main.cpp:
--------------------------------------------------------------------------------
  1 | // This is free and unencumbered software released into the public domain.
  2 | // For more information, please refer to <http://unlicense.org>
  3 | 
  4 | #include <iostream>
  5 | #include <chrono>
  6 | 
  7 | #include "../tiny-gizmo.hpp"
  8 | #include "util.hpp"
  9 | #include "gl-api.hpp"
 10 | #include "teapot.h"
 11 | 
 12 | using namespace tinygizmo;
 13 | 
 14 | static inline uint64_t get_local_time_ns()
 15 | {
 16 |     return std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::high_resolution_clock::now().time_since_epoch()).count();
 17 | }
 18 | 
 19 | const linalg::aliases::float4x4 identity4x4 = { { 1, 0, 0, 0 },{ 0, 1, 0, 0 },{ 0, 0, 1, 0 },{ 0, 0, 0, 1 } };
 20 | 
 21 | constexpr const char gizmo_vert[] = R"(#version 330
 22 |     layout(location = 0) in vec3 vertex;
 23 |     layout(location = 1) in vec3 normal;
 24 |     layout(location = 2) in vec4 color;
 25 |     out vec4 v_color;
 26 |     out vec3 v_world, v_normal;
 27 |     uniform mat4 u_mvp;
 28 |     void main()
 29 |     {
 30 |         gl_Position = u_mvp * vec4(vertex.xyz, 1);
 31 |         v_color = color;
 32 |         v_world = vertex;
 33 |         v_normal = normal;
 34 |     }
 35 | )";
 36 | 
 37 | constexpr const char gizmo_frag[] = R"(#version 330
 38 |     in vec4 v_color;
 39 |     in vec3 v_world, v_normal;
 40 |     out vec4 f_color;
 41 |     uniform vec3 u_eye;
 42 |     void main()
 43 |     {
 44 |         vec3 light = vec3(1) * max(dot(v_normal, normalize(u_eye - v_world)), 0.50) + 0.25;
 45 |         f_color = v_color * vec4(light, 1);
 46 |     }
 47 | )";
 48 | 
 49 | constexpr const char lit_vert[] = R"(#version 330
 50 |     uniform mat4 u_modelMatrix;
 51 |     uniform mat4 u_viewProj;
 52 | 
 53 |     layout(location = 0) in vec3 inPosition;
 54 |     layout(location = 1) in vec3 inNormal;
 55 | 
 56 |     out vec3 v_position, v_normal;
 57 | 
 58 |     void main()
 59 |     {
 60 |         vec4 worldPos = u_modelMatrix * vec4(inPosition, 1);
 61 |         v_position = worldPos.xyz;
 62 |         v_normal = normalize((u_modelMatrix * vec4(inNormal,0)).xyz);
 63 |         gl_Position = u_viewProj * worldPos;
 64 |     }
 65 | )";
 66 | 
 67 | constexpr const char lit_frag[] = R"(#version 330
 68 |     uniform vec3 u_diffuse = vec3(1, 1, 1);
 69 |     uniform vec3 u_eye;
 70 | 
 71 |     in vec3 v_position;
 72 |     in vec3 v_normal;
 73 | 
 74 |     out vec4 f_color;
 75 |     
 76 |     vec3 compute_lighting(vec3 eyeDir, vec3 position, vec3 color)
 77 |     {
 78 |         vec3 light = vec3(0, 0, 0);
 79 |         vec3 lightDir = normalize(position - v_position);
 80 |         light += color * u_diffuse * max(dot(v_normal, lightDir), 0);
 81 |         vec3 halfDir = normalize(lightDir + eyeDir);
 82 |         light += color * u_diffuse * pow(max(dot(v_normal, halfDir), 0), 128);
 83 |         return light;
 84 |     }
 85 | 
 86 |     void main()
 87 |     {
 88 |         vec3 eyeDir = vec3(0, 1, -2);
 89 |         vec3 light = vec3(0, 0, 0);
 90 |         light += compute_lighting(eyeDir, vec3(+3, 1, 0), vec3(235.0/255.0, 43.0/255.0, 211.0/255.0));
 91 |         light += compute_lighting(eyeDir, vec3(-3, 1, 0), vec3(43.0/255.0, 236.0/255.0, 234.0/255.0));
 92 |         f_color = vec4(light + vec3(0.5, 0.5, 0.5), 1.0);
 93 |     }
 94 | )";
 95 | 
 96 | //////////////////////////
 97 | //   Main Application   //
 98 | //////////////////////////
 99 | 
100 | struct geometry_vertex { v3f position, normal; v4f color; };
101 | struct geometry_mesh { std::vector<geometry_vertex> vertices; std::vector<uint3> triangles; };
102 | 
103 | geometry_mesh make_teapot()
104 | {
105 |     geometry_mesh mesh;
106 |     for (int i = 0; i < 4974; i+=6)
107 |     {
108 |         geometry_vertex v;
109 |         v.position = v3f{ teapot_vertices[i + 0], teapot_vertices[i + 1], teapot_vertices[i + 2] };
110 |         v.normal = v3f{ teapot_vertices[i + 3], teapot_vertices[i + 4], teapot_vertices[i + 5] };
111 |         mesh.vertices.push_back(v);
112 |     }
113 |     for (int i = 0; i < 4680; i += 3) mesh.triangles.push_back(uint3{ teapot_triangles[i + 0], teapot_triangles[i + 1], teapot_triangles[i + 2] });
114 |     return mesh;
115 | }
116 | 
117 | void draw_mesh(GlShader & shader, GlMesh & mesh, const linalg::aliases::float3 eye, const linalg::aliases::float4x4 & viewProj, const linalg::aliases::float4x4 & model)
118 | {
119 |     linalg::aliases::float4x4 modelViewProjectionMatrix = mul(viewProj, model);
120 |     shader.bind();
121 |     shader.uniform("u_mvp", modelViewProjectionMatrix);
122 |     shader.uniform("u_eye", eye);
123 |     mesh.draw_elements();
124 |     shader.unbind();
125 | }
126 | 
127 | void draw_lit_mesh(GlShader & shader, GlMesh & mesh, const linalg::aliases::float3 eye, const linalg::aliases::float4x4 & viewProj, const linalg::aliases::float4x4 & model)
128 | {
129 |     shader.bind();
130 |     shader.uniform("u_viewProj", viewProj);
131 |     shader.uniform("u_modelMatrix", model);
132 |     shader.uniform("u_eye", eye);
133 |     mesh.draw_elements();
134 |     shader.unbind();
135 | }
136 | 
137 | void upload_mesh(const geometry_mesh & cpu, GlMesh & gpu)
138 | {
139 |     gpu.set_vertex_data(cpu.vertices.size() * sizeof(cpu.vertices[0]), cpu.vertices.data(), GL_DYNAMIC_DRAW);
140 |     gpu.set_attribute(0, 3, GL_FLOAT, GL_FALSE, sizeof(geometry_vertex), (GLvoid*) offsetof(geometry_vertex, position));
141 |     gpu.set_attribute(1, 3, GL_FLOAT, GL_FALSE, sizeof(geometry_vertex), (GLvoid*) offsetof(geometry_vertex, normal));
142 |     gpu.set_attribute(2, 4, GL_FLOAT, GL_FALSE, sizeof(geometry_vertex), (GLvoid*) offsetof(geometry_vertex, color));
143 |     gpu.set_elements(static_cast<GLsizei>(cpu.triangles.size()), reinterpret_cast<const linalg::aliases::uint3*>(cpu.triangles.data()), GL_DYNAMIC_DRAW);
144 | }
145 | 
146 | std::unique_ptr<Window> win;
147 | 
148 | int main(int argc, char * argv[])
149 | {
150 |     bool ml = 0, mr = 0, bf = 0, bl = 0, bb = 0, br = 0;
151 | 
152 |     camera cam = {};
153 |     cam.yfov = 1.0f;
154 |     cam.near_clip = 0.01f;
155 |     cam.far_clip = 32.0f;
156 |     cam.position = { 0,1.5f,4 };
157 | 
158 |     gizmo_application_state gizmo_state;
159 |     gizmo_context gizmo_ctx;
160 | 
161 |     try
162 |     {
163 |         win.reset(new Window(1280, 800, "tiny-gizmo-example-app"));
164 |         glfwSwapInterval(1);
165 |     }
166 |     catch (const std::exception & e)
167 |     {
168 |         std::cout << "Caught GLFW window exception: " << e.what() << std::endl;
169 |     }
170 | 
171 |     auto windowSize = win->get_window_size();
172 | 
173 |     GlShader wireframeShader, litShader;
174 |     GlMesh gizmoEditorMesh, teapotMesh;
175 | 
176 |     wireframeShader = GlShader(gizmo_vert, gizmo_frag);
177 |     litShader = GlShader(lit_vert, lit_frag);
178 | 
179 |     geometry_mesh teapot = make_teapot();
180 |     upload_mesh(teapot, teapotMesh);
181 | 
182 |     win->on_key = [&](int key, int action, int mods)
183 |     {
184 |         if (key == GLFW_KEY_LEFT_CONTROL) gizmo_state.hotkey_ctrl = (action != GLFW_RELEASE);
185 |         if (key == GLFW_KEY_L) gizmo_state.hotkey_local = (action != GLFW_RELEASE);
186 |         if (key == GLFW_KEY_T) gizmo_state.hotkey_translate = (action != GLFW_RELEASE);
187 |         if (key == GLFW_KEY_R) gizmo_state.hotkey_rotate = (action != GLFW_RELEASE);
188 |         if (key == GLFW_KEY_S) gizmo_state.hotkey_scale = (action != GLFW_RELEASE);
189 |         if (key == GLFW_KEY_W) bf = (action != GLFW_RELEASE);
190 |         if (key == GLFW_KEY_A) bl = (action != GLFW_RELEASE);
191 |         if (key == GLFW_KEY_S) bb = (action != GLFW_RELEASE);
192 |         if (key == GLFW_KEY_D) br = (action != GLFW_RELEASE);
193 |         if (key == GLFW_KEY_ESCAPE) win->close();
194 |     };
195 | 
196 |     win->on_mouse_button = [&](int button, int action, int mods)
197 |     {
198 |         if (button == GLFW_MOUSE_BUTTON_LEFT) gizmo_state.mouse_left = (action != GLFW_RELEASE);
199 |         if (button == GLFW_MOUSE_BUTTON_LEFT) ml = (action != GLFW_RELEASE);
200 |         if (button == GLFW_MOUSE_BUTTON_RIGHT) mr = (action != GLFW_RELEASE);
201 |     };
202 | 
203 |     linalg::aliases::float2 lastCursor;
204 |     win->on_cursor_pos = [&](linalg::aliases::float2 position)
205 |     {
206 |         auto deltaCursorMotion = linalg::aliases::float2(position.x, position.y) - lastCursor;
207 |         if (mr)
208 |         {
209 |             cam.yaw -= deltaCursorMotion.x * 0.01f;
210 |             cam.pitch -= deltaCursorMotion.y * 0.01f;
211 |         }
212 |         lastCursor = linalg::aliases::float2(position.x, position.y);
213 |     };
214 | 
215 |     rigid_transform xform_a;
216 |     xform_a.position = { -2, 0, 0 };
217 | 
218 |     rigid_transform xform_a_last;
219 |    
220 |     rigid_transform xform_b;
221 |     xform_b.position = { +2, 0, 0 };
222 | 
223 |     auto t0 = std::chrono::high_resolution_clock::now();
224 |     while (!win->should_close())
225 |     {
226 |         glfwPollEvents();
227 | 
228 |         auto t1 = std::chrono::high_resolution_clock::now();
229 |         float timestep = std::chrono::duration<float>(t1 - t0).count();
230 |         t0 = t1;
231 | 
232 |         if (mr)
233 |         {
234 |             const linalg::aliases::float4 orientation = cam.get_orientation();
235 |             linalg::aliases::float3 move;
236 |             if (bf) move -= qzdir(orientation);
237 |             if (bl) move -= qxdir(orientation);
238 |             if (bb) move += qzdir(orientation);
239 |             if (br) move += qxdir(orientation);
240 |             if (length2(move) > 0) cam.position += normalize(move) * (timestep * 10);
241 |         }
242 | 
243 |         glViewport(0, 0, windowSize.x, windowSize.y);
244 | 
245 |         glEnable(GL_DEPTH_TEST);
246 |         glEnable(GL_BLEND);
247 |         glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
248 |         glClearColor(0.725f, 0.725f, 0.725f, 1.0f);
249 |         glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
250 | 
251 |         auto cameraOrientation = cam.get_orientation();
252 | 
253 |         const auto rayDir = get_ray_from_pixel({ lastCursor.x, lastCursor.y }, { 0, 0, windowSize.x, windowSize.y }, cam).direction;
254 | 
255 |         // Gizmo input interaction state populated via win->on_input(...) callback above. Update app parameters: 
256 |         gizmo_state.viewport_size = v2f{ float(windowSize.x), float(windowSize.y) };
257 |         gizmo_state.cam.near_clip = cam.near_clip;
258 |         gizmo_state.cam.far_clip = cam.far_clip;
259 |         gizmo_state.cam.yfov = cam.yfov;
260 |         gizmo_state.cam.position = v3f{ cam.position.x, cam.position.y, cam.position.z };
261 |         gizmo_state.cam.orientation = v4f{ cameraOrientation.x, cameraOrientation.y, cameraOrientation.z, cameraOrientation.w };
262 |         gizmo_state.ray_origin= v3f{ cam.position.x, cam.position.y, cam.position.z };
263 |         gizmo_state.ray_direction = v3f{ rayDir.x, rayDir.y, rayDir.z };
264 |         //gizmo_state.screenspace_scale = 80.f; // optional flag to draw the gizmos at a constant screen-space scale
265 |   
266 |         glDisable(GL_CULL_FACE);
267 |         auto teapotModelMatrix_a_tmp = xform_a.matrix();
268 |         auto teapotModelMatrix_a = reinterpret_cast<const linalg::aliases::float4x4 &>(teapotModelMatrix_a_tmp);
269 |         draw_lit_mesh(litShader, teapotMesh, cam.position, cam.get_viewproj_matrix((float)windowSize.x / (float)windowSize.y), teapotModelMatrix_a);
270 | 
271 |         auto teapotModelMatrix_b_tmp = xform_b.matrix();
272 |         auto teapotModelMatrix_b = reinterpret_cast<const linalg::aliases::float4x4 &>(teapotModelMatrix_b_tmp);
273 |         draw_lit_mesh(litShader, teapotMesh, cam.position, cam.get_viewproj_matrix((float)windowSize.x / (float)windowSize.y), teapotModelMatrix_b);
274 | 
275 |         //glClear(GL_DEPTH_BUFFER_BIT);
276 | 
277 |         gizmo_ctx.begin(gizmo_state);
278 | 
279 |         if (gizmo_ctx.transform_gizmo("first-example-gizmo", xform_a))
280 |         {
281 |             //std::cout << get_local_time_ns() << " - " << "First Gizmo Hovered..." << std::endl;
282 |             //if (xform_a != xform_a_last) std::cout << get_local_time_ns() << " - " << "First Gizmo Changed..." << std::endl;
283 |             xform_a_last = xform_a;
284 |         }
285 | 
286 |         gizmo_ctx.transform_gizmo("second-example-gizmo", xform_b);
287 | 
288 |         static geometry_mesh r; // Combine all gizmo sub-meshes into one super-mesh
289 |         
290 |         // update index buffer
291 |         size_t triangle_count = gizmo_ctx.triangles(reinterpret_cast<uint32_t*>(r.triangles.data()), r.triangles.size());
292 |         if (triangle_count > r.triangles.size())
293 |         {
294 |             r.triangles.resize(triangle_count);
295 |             triangle_count = gizmo_ctx.triangles(reinterpret_cast<uint32_t*>(r.triangles.data()), r.triangles.size());
296 |         }
297 |         else if (triangle_count < r.triangles.size())
298 |         {
299 |             r.triangles.resize(triangle_count);
300 |         }
301 | 
302 |         // update vertex buffer
303 |         size_t vertex_count = gizmo_ctx.vertices(reinterpret_cast<float*>(r.vertices.data()), sizeof(r.vertices[0]),
304 |                                                  sizeof(float) * 3, sizeof(float) * 6, r.vertices.size());
305 |         if (vertex_count > r.vertices.size())
306 |         {
307 |             r.vertices.resize(vertex_count);
308 |             size_t vertex_count = gizmo_ctx.vertices(reinterpret_cast<float*>(r.vertices.data()), sizeof(r.vertices[0]),
309 |                 sizeof(float) * 3, sizeof(float) * 6, r.vertices.size());
310 |         }
311 |         else if (vertex_count < r.vertices.size())
312 |         {
313 |             r.vertices.resize(vertex_count);
314 |         }
315 | 
316 |         upload_mesh(r, gizmoEditorMesh);
317 |         draw_mesh(wireframeShader, gizmoEditorMesh, cam.position, cam.get_viewproj_matrix((float)windowSize.x / (float)windowSize.y), identity4x4);
318 | 
319 |         //gizmo_ctx.draw();
320 |         gizmo_ctx.end(gizmo_state);
321 | 
322 |         gl_check_error(__FILE__, __LINE__);
323 | 
324 |         win->swap_buffers();
325 |     }
326 |     return EXIT_SUCCESS;
327 | }
328 | 


--------------------------------------------------------------------------------
/tiny-gizmo-example/gl-api.hpp:
--------------------------------------------------------------------------------
  1 | // This is free and unencumbered software released into the public domain.
  2 | // For more information, please refer to <http://unlicense.org>
  3 | 
  4 | #pragma once
  5 | 
  6 | #ifndef gl_api_hpp
  7 | #define gl_api_hpp
  8 | 
  9 | #include <map>
 10 | #include <cstring>
 11 | #include <string>
 12 | #include <vector>
 13 | #include "linalg.h"
 14 | 
 15 | namespace
 16 | {
 17 |     static bool gEnableGLDebugOutputErrorBreakpoints = false;
 18 | 
 19 |     inline void compile_shader(GLuint program, GLenum type, const char * source)
 20 |     {
 21 |         GLuint shader = glCreateShader(type);
 22 |         glShaderSource(shader, 1, &source, nullptr);
 23 |         glCompileShader(shader);
 24 | 
 25 |         GLint status, length;
 26 |         glGetShaderiv(shader, GL_COMPILE_STATUS, &status);
 27 | 
 28 |         if (status == GL_FALSE)
 29 |         {
 30 |             glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &length);
 31 |             std::vector<GLchar> buffer(length);
 32 |             glGetShaderInfoLog(shader, (GLsizei)buffer.size(), nullptr, buffer.data());
 33 |             glDeleteShader(shader);
 34 |             std::cerr << "GL Compile Error: " << buffer.data() << std::endl;
 35 |             std::cerr << "Source: " << source << std::endl;
 36 |             throw std::runtime_error("GLSL Compile Failure");
 37 |         }
 38 | 
 39 |         glAttachShader(program, shader);
 40 |         glDeleteShader(shader);
 41 |     }
 42 | 
 43 |     std::string gl_src_to_str(GLenum source)
 44 |     {
 45 |         switch (source)
 46 |         {
 47 |         case GL_DEBUG_SOURCE_WINDOW_SYSTEM: return "WINDOW_SYSTEM";
 48 |         case GL_DEBUG_SOURCE_SHADER_COMPILER: return "SHADER_COMPILER";
 49 |         case GL_DEBUG_SOURCE_THIRD_PARTY: return "THIRD_PARTY";
 50 |         case GL_DEBUG_SOURCE_APPLICATION: return "APPLICATION";
 51 |         case GL_DEBUG_SOURCE_OTHER: return "OTHER";
 52 |         case GL_DEBUG_SOURCE_API: return "API";
 53 |         default: return "UNKNOWN";
 54 |         }
 55 |     }
 56 | 
 57 |     std::string gl_enum_to_str(GLenum type)
 58 |     {
 59 |         switch (type)
 60 |         {
 61 |         case GL_DEBUG_TYPE_ERROR: return "ERROR";
 62 |         case GL_DEBUG_TYPE_DEPRECATED_BEHAVIOR: return "DEPRECATION";
 63 |         case GL_DEBUG_TYPE_UNDEFINED_BEHAVIOR: return "UNDEFINED_BEHAVIOR";
 64 |         case GL_DEBUG_TYPE_PORTABILITY: return "PORTABILITY";
 65 |         case GL_DEBUG_TYPE_PERFORMANCE: return "PERFORMANCE";
 66 |         case GL_DEBUG_TYPE_OTHER: return "OTHER";
 67 |         default: return "UNKNOWN";
 68 |         }
 69 |     }
 70 | 
 71 |     std::string gl_severity_to_str(GLenum severity)
 72 |     {
 73 |         switch (severity)
 74 |         {
 75 |         case GL_DEBUG_SEVERITY_LOW: return "LOW";
 76 |         case GL_DEBUG_SEVERITY_MEDIUM: return "MEDIUM";
 77 |         case GL_DEBUG_SEVERITY_HIGH: return "HIGH";
 78 |         default: return "UNKNOWN";
 79 |         }
 80 |     }
 81 | 
 82 |     static void APIENTRY gl_debug_callback(GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar * message, GLvoid * userParam)
 83 |     {
 84 |         if (type != GL_DEBUG_TYPE_ERROR) return;
 85 |         auto sourceStr = gl_src_to_str(source);
 86 |         auto typeStr = gl_enum_to_str(type);
 87 |         auto severityStr = gl_severity_to_str(severity);
 88 |         std::cout << "gl_debug_callback: " << sourceStr << ", " << severityStr << ", " << typeStr << " , " << id << ", " << message << std::endl;
 89 | #ifdef __WIN32
 90 |         if ((type == GL_DEBUG_TYPE_ERROR) && (gEnableGLDebugOutputErrorBreakpoints)) __debugbreak();
 91 | #endif
 92 |     }
 93 | 
 94 |     inline void gl_check_error(const char * file, int32_t line)
 95 |     {
 96 | #if defined(_DEBUG) || defined(DEBUG)
 97 |         GLint error = glGetError();
 98 |         if (error)
 99 |         {
100 |             const char * errorStr = 0;
101 |             switch (error)
102 |             {
103 |             case GL_INVALID_ENUM: errorStr = "GL_INVALID_ENUM"; break;
104 |             case GL_INVALID_VALUE: errorStr = "GL_INVALID_VALUE"; break;
105 |             case GL_INVALID_OPERATION: errorStr = "GL_INVALID_OPERATION"; break;
106 |             case GL_OUT_OF_MEMORY: errorStr = "GL_OUT_OF_MEMORY"; break;
107 |             default: errorStr = "unknown error"; break;
108 |             }
109 |             printf("GL error : %s, line %d : %s\n", file, line, errorStr);
110 |             error = 0;
111 |         }
112 | #endif
113 |     }
114 | 
115 |     inline size_t gl_size_bytes(GLenum type)
116 |     {
117 |         switch (type)
118 |         {
119 |         case GL_UNSIGNED_BYTE: return sizeof(uint8_t);
120 |         case GL_UNSIGNED_SHORT: return sizeof(uint16_t);
121 |         case GL_UNSIGNED_INT: return sizeof(uint32_t);
122 |         default: throw std::logic_error("unknown element type"); break;
123 |         }
124 |     }
125 | }
126 | 
127 | template<typename factory_t>
128 | class GlObject
129 | {
130 |     mutable GLuint handle = 0;
131 |     std::string n;
132 | public:
133 |     GlObject() {}
134 |     GlObject(GLuint h) : handle(h) {}
135 |     ~GlObject() { if (handle) factory_t::destroy(handle); }
136 |     GlObject(const GlObject & r) = delete;
137 |     GlObject & operator = (GlObject && r) { std::swap(handle, r.handle); std::swap(n, r.n);  return *this; }
138 |     GlObject(GlObject && r) { *this = std::move(r); }
139 |     operator GLuint () const { if (!handle)  factory_t::create(handle); return handle; }
140 |     GlObject & operator = (GLuint & other) { handle = other; return *this; }
141 |     void set_name(const std::string & newName) { n = newName; }
142 |     std::string name() const { return n; }
143 |     GLuint id() const { return handle; };
144 | };
145 | 
146 | struct GlBufferFactory { static void create(GLuint & x) { glGenBuffers(1, &x); }; static void destroy(GLuint x) { glDeleteBuffers(1, &x); }; };
147 | struct GlTextureFactory { static void create(GLuint & x) { glGenTextures(1, &x); }; static void destroy(GLuint x) { glDeleteTextures(1, &x); }; };
148 | struct GlVertexArrayFactory { static void create(GLuint & x) { glGenVertexArrays(1, &x); }; static void destroy(GLuint x) { glDeleteVertexArrays(1, &x); }; };
149 | struct GlRenderbufferFactory { static void create(GLuint & x) { glGenRenderbuffers(1, &x); }; static void destroy(GLuint x) { glDeleteRenderbuffers(1, &x); }; };
150 | struct GlFramebufferFactory { static void create(GLuint & x) { glGenFramebuffers(1, &x); }; static void destroy(GLuint x) { glDeleteFramebuffers(1, &x); }; };
151 | struct GlQueryFactory { static void create(GLuint & x) { glGenQueries(1, &x); }; static void destroy(GLuint x) { glDeleteQueries(1, &x); }; };
152 | struct GlSamplerFactory { static void create(GLuint & x) { glGenSamplers(1, &x); }; static void destroy(GLuint x) { glDeleteSamplers(1, &x); }; };
153 | struct GlTransformFeedbacksFactory { static void create(GLuint & x) { glGenTransformFeedbacks(1, &x); }; static void destroy(GLuint x) { glDeleteTransformFeedbacks(1, &x); }; };
154 | 
155 | typedef GlObject<GlBufferFactory> GlBufferObject;
156 | typedef GlObject<GlTextureFactory> GlTextureObject;
157 | typedef GlObject<GlVertexArrayFactory> GlVertexArrayObject;
158 | typedef GlObject<GlRenderbufferFactory> GlRenderbufferObject;
159 | typedef GlObject<GlFramebufferFactory> GlFramebufferObject;
160 | typedef GlObject<GlQueryFactory> GlQueryObject;
161 | typedef GlObject<GlSamplerFactory> GlSamplerObject;
162 | typedef GlObject<GlTransformFeedbacksFactory> GlTransformFeedbacksObject;
163 | 
164 | //////////////////
165 | //   GlBuffer   //
166 | //////////////////
167 | 
168 | struct GlBuffer : public GlBufferObject
169 | {
170 |     GLsizeiptr size;
171 |     GlBuffer() {}
172 |     void set_buffer_data(const GLsizeiptr s, const GLvoid * data, const GLenum usage) { this->size = s; glNamedBufferData(*this, size, data, usage);  }
173 |     void set_buffer_data(const std::vector<GLubyte> & bytes, const GLenum usage) { set_buffer_data(bytes.size(), bytes.data(), usage); }
174 |     void set_buffer_sub_data(const GLsizeiptr s, const GLintptr offset, const GLvoid * data) { glNamedBufferSubData(*this, offset, s, data);  }
175 |     void set_buffer_sub_data(const std::vector<GLubyte> & bytes, const GLintptr offset, const GLenum usage) { set_buffer_sub_data(bytes.size(), offset, bytes.data()); }
176 | };
177 | 
178 | ////////////////////////
179 | //   GlRenderbuffer   //
180 | ////////////////////////
181 | 
182 | struct GlRenderbuffer : public GlRenderbufferObject
183 | {
184 |     float width{ 0 }, height{ 0 };
185 |     GlRenderbuffer() {}
186 |     GlRenderbuffer(float width, float height) : width(width), height(height) {}
187 | };
188 | 
189 | ///////////////////////
190 | //   GlFramebuffer   //
191 | ///////////////////////
192 | 
193 | struct GlFramebuffer : public GlFramebufferObject
194 | {
195 |     float width{ 0 }, height{ 0 }, depth{ 0 };
196 |     GlFramebuffer() {}
197 |     GlFramebuffer(float width, float height) : width(width), height(height) {}
198 |     GlFramebuffer(float width, float height, float depth) : width(width), height(height), depth(depth) {}
199 |     void check_complete() { if (glCheckNamedFramebufferStatusEXT(*this, GL_FRAMEBUFFER) != GL_FRAMEBUFFER_COMPLETE) throw std::runtime_error("fbo incomplete"); }
200 | };
201 | 
202 | ///////////////////
203 | //   GlTexture   //
204 | ///////////////////
205 | 
206 | struct GlTexture2D : public GlTextureObject
207 | {
208 |     float width{ 0 }, height{ 0 };
209 |     GlTexture2D() {}
210 |     GlTexture2D(float width, float height) : width(width), height(height) {}
211 | 
212 |     void setup(GLsizei width, GLsizei height, GLenum internal_fmt, GLenum format, GLenum type, const GLvoid * pixels, bool createMipmap = false)
213 |     {
214 |         glTextureImage2DEXT(*this, GL_TEXTURE_2D, 0, internal_fmt, width, height, 0, format, type, pixels);
215 |         if (createMipmap) glGenerateTextureMipmapEXT(*this, GL_TEXTURE_2D);
216 |         glTextureParameteriEXT(*this, GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
217 |         glTextureParameteriEXT(*this, GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, createMipmap ? GL_LINEAR_MIPMAP_LINEAR : GL_LINEAR);
218 |         glTextureParameteriEXT(*this, GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
219 |         glTextureParameteriEXT(*this, GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
220 |         this->width = static_cast<float>(width);
221 |         this->height = static_cast<float>(height);
222 |     }
223 | };
224 | 
225 | /////////////////////
226 | //   GlTexture3D   //
227 | /////////////////////
228 | 
229 | // As either a 3D texture or 2D array
230 | struct GlTexture3D : public GlTextureObject
231 | {
232 |     float width{ 0 }, height{ 0 }, depth{ 0 };
233 |     GlTexture3D() {}
234 |     GlTexture3D(float width, float height, float depth) : width(width), height(height), depth(depth) {}
235 | 
236 |     void setup(GLenum target, GLsizei width, GLsizei height, GLsizei depth, GLenum internal_fmt, GLenum format, GLenum type, const GLvoid * pixels)
237 |     {
238 |         glTextureImage3DEXT(*this, target, 0, internal_fmt, width, height, depth, 0, format, type, pixels);
239 |         glTextureParameteriEXT(*this, target, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
240 |         glTextureParameteriEXT(*this, target, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
241 |         glTextureParameteriEXT(*this, target, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_BORDER);
242 |         glTextureParameteriEXT(*this, target, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_BORDER);
243 |         glTextureParameteriEXT(*this, target, GL_TEXTURE_WRAP_R, GL_CLAMP_TO_BORDER);
244 |         this->width = static_cast<float>(width);
245 |         this->height = static_cast<float>(height);
246 |         this->depth = static_cast<float>(depth);
247 |     }
248 | };
249 | 
250 | //////////////////
251 | //   GlShader   //
252 | //////////////////
253 | 
254 | class GlShader
255 | {
256 |     GLuint program;
257 |     bool enabled = false;
258 | 
259 | protected:
260 |     GlShader(const GlShader & r) = delete;
261 |     GlShader & operator = (const GlShader & r) = delete;
262 | public:
263 | 
264 |     GlShader() : program() {}
265 | 
266 |     GlShader(const GLuint type, const std::string & src)
267 |     {
268 |         program = glCreateProgram();
269 | 
270 |         ::compile_shader(program, type, src.c_str());
271 |         glProgramParameteri(program, GL_PROGRAM_SEPARABLE, GL_TRUE);
272 | 
273 |         glLinkProgram(program);
274 | 
275 |         GLint status, length;
276 |         glGetProgramiv(program, GL_LINK_STATUS, &status);
277 | 
278 |         if (status == GL_FALSE)
279 |         {
280 |             glGetProgramiv(program, GL_INFO_LOG_LENGTH, &length);
281 |             std::vector<GLchar> buffer(length);
282 |             glGetProgramInfoLog(program, (GLsizei)buffer.size(), nullptr, buffer.data());
283 |             std::cerr << "GL Link Error: " << buffer.data() << std::endl;
284 |             throw std::runtime_error("GLSL Link Failure");
285 |         }
286 |     }
287 | 
288 |     GlShader(const std::string & vert, const std::string & frag, const std::string & geom = "")
289 |     {
290 |         program = glCreateProgram();
291 | 
292 |         glProgramParameteri(program, GL_PROGRAM_SEPARABLE, GL_FALSE);
293 | 
294 |         ::compile_shader(program, GL_VERTEX_SHADER, vert.c_str());
295 |         ::compile_shader(program, GL_FRAGMENT_SHADER, frag.c_str());
296 | 
297 |         if (geom.length() != 0) ::compile_shader(program, GL_GEOMETRY_SHADER, geom.c_str());
298 | 
299 |         glLinkProgram(program);
300 | 
301 |         GLint status, length;
302 |         glGetProgramiv(program, GL_LINK_STATUS, &status);
303 | 
304 |         if (status == GL_FALSE)
305 |         {
306 |             glGetProgramiv(program, GL_INFO_LOG_LENGTH, &length);
307 |             std::vector<GLchar> buffer(length);
308 |             glGetProgramInfoLog(program, (GLsizei)buffer.size(), nullptr, buffer.data());
309 |             std::cerr << "GL Link Error: " << buffer.data() << std::endl;
310 |             throw std::runtime_error("GLSL Link Failure");
311 |         }
312 |     }
313 | 
314 |     ~GlShader() { if (program) glDeleteProgram(program); }
315 | 
316 |     GlShader(GlShader && r) : GlShader() { *this = std::move(r); }
317 | 
318 |     GLuint handle() const { return program; }
319 |     GLint get_uniform_location(const std::string & name) const { return glGetUniformLocation(program, name.c_str()); }
320 | 
321 |     GlShader & operator = (GlShader && r) { std::swap(program, r.program); return *this; }
322 | 
323 |     std::map<uint32_t, std::string> reflect()
324 |     {
325 |         std::map<uint32_t, std::string> locations;
326 |         GLint count;
327 |         glGetProgramiv(program, GL_ACTIVE_UNIFORMS, &count);
328 |         for (GLuint i = 0; i < static_cast<GLuint>(count); ++i)
329 |         {
330 |             char buffer[1024]; GLenum type; GLsizei length; GLint size, block_index;
331 |             glGetActiveUniform(program, i, sizeof(buffer), &length, &size, &type, buffer);
332 |             glGetActiveUniformsiv(program, 1, &i, GL_UNIFORM_BLOCK_INDEX, &block_index);
333 |             if (block_index != -1) continue;
334 |             GLint loc = glGetUniformLocation(program, buffer);
335 |             locations[loc] = std::string(buffer);
336 |         }
337 |         return locations;
338 |     }
339 | 
340 |     void uniform(const std::string & name, int scalar) const { glProgramUniform1i(program, get_uniform_location(name), scalar); }
341 |     void uniform(const std::string & name, float scalar) const { glProgramUniform1f(program, get_uniform_location(name), scalar); }
342 |     void uniform(const std::string & name, const linalg::aliases::float2 & vec) const { glProgramUniform2fv(program, get_uniform_location(name), 1, &vec.x); }
343 |     void uniform(const std::string & name, const linalg::aliases::float3 & vec) const { glProgramUniform3fv(program, get_uniform_location(name), 1, &vec.x); }
344 |     void uniform(const std::string & name, const linalg::aliases::float4 & vec) const { glProgramUniform4fv(program, get_uniform_location(name), 1, &vec.x); }
345 |     void uniform(const std::string & name, const linalg::aliases::float3x3 & mat) const { glProgramUniformMatrix3fv(program, get_uniform_location(name), 1, GL_FALSE, &mat.x.x); }
346 |     void uniform(const std::string & name, const linalg::aliases::float4x4 & mat) const { glProgramUniformMatrix4fv(program, get_uniform_location(name), 1, GL_FALSE, &mat.x.x); }
347 | 
348 |     void uniform(const std::string & name, const int elements, const std::vector<int> & scalar) const { glProgramUniform1iv(program, get_uniform_location(name), elements, scalar.data()); }
349 |     void uniform(const std::string & name, const int elements, const std::vector<float> & scalar) const { glProgramUniform1fv(program, get_uniform_location(name), elements, scalar.data()); }
350 |     void uniform(const std::string & name, const int elements, const std::vector<linalg::aliases::float2> & vec) const { glProgramUniform2fv(program, get_uniform_location(name), elements, &vec[0].x); }
351 |     void uniform(const std::string & name, const int elements, const std::vector<linalg::aliases::float3> & vec) const { glProgramUniform3fv(program, get_uniform_location(name), elements, &vec[0].x); }
352 |     void uniform(const std::string & name, const int elements, const std::vector<linalg::aliases::float3x3> & mat) const { glProgramUniformMatrix3fv(program, get_uniform_location(name), elements, GL_FALSE, &mat[0].x.x); }
353 |     void uniform(const std::string & name, const int elements, const std::vector<linalg::aliases::float4x4> & mat) const { glProgramUniformMatrix4fv(program, get_uniform_location(name), elements, GL_FALSE, &mat[0].x.x); }
354 | 
355 |     void texture(GLint loc, GLenum target, int unit, GLuint tex) const
356 |     {
357 |         glBindMultiTextureEXT(GL_TEXTURE0 + unit, target, tex);
358 |         glProgramUniform1i(program, loc, unit);
359 |     }
360 | 
361 |     void texture(const char * name, int unit, GLuint tex, GLenum target) const { texture(get_uniform_location(name), target, unit, tex); }
362 | 
363 |     void bind() { if (program > 0) enabled = true; glUseProgram(program); }
364 |     void unbind() { enabled = false; glUseProgram(0); }
365 | };
366 | 
367 | ////////////////
368 | //   GlMesh   //
369 | ////////////////
370 | 
371 | class GlMesh
372 | {
373 |     GlVertexArrayObject vao;
374 |     GlBuffer vertexBuffer, instanceBuffer, indexBuffer;
375 | 
376 |     GLenum drawMode = GL_TRIANGLES;
377 |     GLenum indexType = 0;
378 |     GLsizei vertexStride = 0, instanceStride = 0, indexCount = 0;
379 | 
380 | public:
381 | 
382 |     GlMesh() {}
383 |     GlMesh(GlMesh && r) { *this = std::move(r); }
384 |     GlMesh(const GlMesh & r) = delete;
385 |     GlMesh & operator = (GlMesh && r)
386 |     {
387 |         char buffer[sizeof(GlMesh)];
388 |         memcpy(buffer, this, sizeof(buffer));
389 |         memcpy(this, &r, sizeof(buffer));
390 |         memcpy(&r, buffer, sizeof(buffer));
391 |         return *this;
392 |     }
393 |     GlMesh & operator = (const GlMesh & r) = delete;
394 |     ~GlMesh() {};
395 | 
396 |     void set_non_indexed(GLenum newMode)
397 |     {
398 |         drawMode = newMode;
399 |         indexBuffer = {};
400 |         indexType = 0;
401 |         indexCount = 0;
402 |     }
403 | 
404 |     void draw_elements(int instances = 0) const
405 |     {
406 |         if (vertexBuffer.size)
407 |         {
408 |             glBindVertexArray(vao);
409 |             if (indexCount)
410 |             {
411 |                 glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, indexBuffer);
412 |                 if (instances) glDrawElementsInstanced(drawMode, indexCount, indexType, 0, instances);
413 |                 else glDrawElements(drawMode, indexCount, indexType, nullptr);
414 |             }
415 |             else
416 |             {
417 |                 if (instances) glDrawArraysInstanced(drawMode, 0, static_cast<GLsizei>(vertexBuffer.size / vertexStride), instances);
418 |                 else glDrawArrays(drawMode, 0, static_cast<GLsizei>(vertexBuffer.size / vertexStride));
419 |             }
420 |             glBindVertexArray(0);
421 |         }
422 |     }
423 | 
424 |     void set_vertex_data(GLsizeiptr size, const GLvoid * data, GLenum usage) { vertexBuffer.set_buffer_data(size, data, usage); }
425 |     GlBuffer & get_vertex_data_buffer() { return vertexBuffer; };
426 | 
427 |     void set_instance_data(GLsizeiptr size, const GLvoid * data, GLenum usage) { instanceBuffer.set_buffer_data(size, data, usage); }
428 | 
429 |     void set_index_data(GLenum mode, GLenum type, GLsizei count, const GLvoid * data, GLenum usage)
430 |     {
431 |         size_t size = gl_size_bytes(type);
432 |         indexBuffer.set_buffer_data(size * count, data, usage);
433 |         drawMode = mode;
434 |         indexType = type;
435 |         indexCount = count;
436 |     }
437 |     GlBuffer & get_index_data_buffer() { return indexBuffer; };
438 | 
439 |     void set_attribute(GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const GLvoid * offset)
440 |     {
441 |         glEnableVertexArrayAttribEXT(vao, index);
442 |         glVertexArrayVertexAttribOffsetEXT(vao, vertexBuffer, index, size, type, normalized, stride, (GLintptr)offset);
443 |         vertexStride = stride;
444 |     }
445 | 
446 |     void set_instance_attribute(GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const GLvoid * offset)
447 |     {
448 |         glEnableVertexArrayAttribEXT(vao, index);
449 |         glVertexArrayVertexAttribOffsetEXT(vao, instanceBuffer, index, size, type, normalized, stride, (GLintptr)offset);
450 |         glVertexArrayVertexAttribDivisorEXT(vao, index, 1);
451 |         instanceStride = stride;
452 |     }
453 | 
454 |     void set_indices(GLenum mode, GLsizei count, const uint8_t * indices, GLenum usage) { set_index_data(mode, GL_UNSIGNED_BYTE, count, indices, usage); }
455 |     void set_indices(GLenum mode, GLsizei count, const uint16_t * indices, GLenum usage) { set_index_data(mode, GL_UNSIGNED_SHORT, count, indices, usage); }
456 |     void set_indices(GLenum mode, GLsizei count, const uint32_t * indices, GLenum usage) { set_index_data(mode, GL_UNSIGNED_INT, count, indices, usage); }
457 | 
458 |     template<class T> void set_vertices(size_t count, const T * vertices, GLenum usage) { set_vertex_data(count * sizeof(T), vertices, usage); }
459 |     template<class T> void set_vertices(const std::vector<T> & vertices, GLenum usage) { set_vertices(vertices.size(), vertices.data(), usage); }
460 |     template<class T, int N> void set_vertices(const T(&vertices)[N], GLenum usage) { set_vertices(N, vertices, usage); }
461 | 
462 |     template<class V> void set_attribute(GLuint index, float V::*field) { set_attribute(index, 1, GL_FLOAT, GL_FALSE, sizeof(V), &(((V*)0)->*field)); }
463 |     template<class V, int N> void set_attribute(GLuint index, linalg::vec<float, N> V::*field) { set_attribute(index, N, GL_FLOAT, GL_FALSE, sizeof(V), &(((V*)0)->*field)); }
464 | 
465 |     template<class T> void set_elements(GLsizei count, const linalg::vec<T, 2> * elements, GLenum usage) { set_indices(GL_LINES, count * 2, &elements->x, usage); }
466 |     template<class T> void set_elements(GLsizei count, const linalg::vec<T, 3> * elements, GLenum usage) { set_indices(GL_TRIANGLES, count * 3, &elements->x, usage); }
467 |     template<class T> void set_elements(GLsizei count, const linalg::vec<T, 4> * elements, GLenum usage) { set_indices(GL_QUADS, count * 4, &elements->x, usage); }
468 | 
469 |     template<class T> void set_elements(const std::vector<T> & elements, GLenum usage) { set_elements((GLsizei)elements.size(), elements.data(), usage); }
470 | 
471 |     template<class T, int N> void set_elements(const T(&elements)[N], GLenum usage) { set_elements(N, elements, usage); }
472 | };
473 | 
474 | #endif // end gl_api_hpp
475 | 


--------------------------------------------------------------------------------
/tiny-gizmo-example/linalg.h:
--------------------------------------------------------------------------------
  1 | // linalg.h - v2.0 - Single-header public domain linear algebra library
  2 | //
  3 | // The intent of this library is to provide the bulk of the functionality
  4 | // you need to write programs that frequently use small, fixed-size vectors
  5 | // and matrices, in domains such as computational geometry or computer
  6 | // graphics. It strives for terse, readable source code.
  7 | //
  8 | // The original author of this software is Sterling Orsten, and its permanent
  9 | // home is <http://github.com/sgorsten/linalg/>. If you find this software
 10 | // useful, an acknowledgement in your source text and/or product documentation
 11 | // is appreciated, but not required.
 12 | //
 13 | // The author acknowledges significant insights and contributions by:
 14 | //     Stan Melax <http://github.com/melax/>
 15 | //     Dimitri Diakopoulos <http://github.com/ddiakopoulos/>
 16 | 
 17 | 
 18 | 
 19 | // This is free and unencumbered software released into the public domain.
 20 | // 
 21 | // Anyone is free to copy, modify, publish, use, compile, sell, or
 22 | // distribute this software, either in source code form or as a compiled
 23 | // binary, for any purpose, commercial or non-commercial, and by any
 24 | // means.
 25 | // 
 26 | // In jurisdictions that recognize copyright laws, the author or authors
 27 | // of this software dedicate any and all copyright interest in the
 28 | // software to the public domain. We make this dedication for the benefit
 29 | // of the public at large and to the detriment of our heirs and
 30 | // successors. We intend this dedication to be an overt act of
 31 | // relinquishment in perpetuity of all present and future rights to this
 32 | // software under copyright law.
 33 | // 
 34 | // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 35 | // EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 36 | // MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
 37 | // IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
 38 | // OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
 39 | // ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
 40 | // OTHER DEALINGS IN THE SOFTWARE.
 41 | // 
 42 | // For more information, please refer to <http://unlicense.org/>
 43 | 
 44 | 
 45 | 
 46 | #pragma once
 47 | #ifndef LINALG_H
 48 | #define LINALG_H
 49 | 
 50 | #include <cmath>        // For various unary math functions, such as std::sqrt
 51 | #include <cstdlib>      // To resolve std::abs ambiguity on clang
 52 | #include <cstdint>      // For implementing namespace linalg::aliases
 53 | #include <array>        // For std::array, used in the relational operator overloads
 54 | #include <limits>       // For std::numeric_limits/epsilon
 55 | 
 56 | // Visual Studio versions prior to 2015 lack constexpr support
 57 | #if defined(_MSC_VER) && _MSC_VER < 1900 && !defined(constexpr)
 58 | #define constexpr
 59 | #endif
 60 | 
 61 | namespace linalg
 62 | {
 63 |     // Small, fixed-length vector type, consisting of exactly M elements of type T, and presumed to be a column-vector unless otherwise noted
 64 |     template<class T, int M> struct vec;
 65 |     template<class T> struct vec<T,2>
 66 |     {
 67 |         T                           x,y;
 68 |         constexpr                   vec()                           : x(), y() {}
 69 |         constexpr                   vec(T x, T y)                   : x(x), y(y) {}
 70 |         constexpr explicit          vec(T s)                        : x(s), y(s) {}
 71 |         constexpr explicit          vec(const T * p)                : vec(p[0], p[1]) {}
 72 |         template<class U>
 73 |         constexpr explicit          vec(const vec<U,2> & v)         : vec(static_cast<T>(v.x), static_cast<T>(v.y)) {}
 74 |         constexpr const T &         operator[] (int i) const        { return (&x)[i]; }
 75 |         T &                         operator[] (int i)              { return (&x)[i]; }
 76 |     };
 77 |     template<class T> struct vec<T,3>
 78 |     {
 79 |         T                           x,y,z;
 80 |        constexpr                    vec()                           : x(), y(), z() {}
 81 |        constexpr                    vec(T x, T y, T z)              : x(x), y(y), z(z) {}
 82 |        constexpr explicit           vec(T s)                        : x(s), y(s), z(s) {}
 83 |        constexpr explicit           vec(const T * p)                : vec(p[0], p[1], p[2]) {}
 84 |        template<class U>
 85 |        constexpr explicit           vec(const vec<U,3> & v)         : vec(static_cast<T>(v.x), static_cast<T>(v.y), static_cast<T>(v.z)) {}
 86 |        constexpr                    vec(const vec<T,2> & xy, T z)   : vec(xy.x, xy.y, z) {}
 87 |        constexpr const T &          operator[] (int i) const        { return (&x)[i]; }
 88 |        T &                          operator[] (int i)              { return (&x)[i]; }
 89 |        constexpr const vec<T,2> &   xy() const                      { return *reinterpret_cast<const vec<T,2> *>(this); }
 90 |        vec<T,2> &                   xy()                            { return *reinterpret_cast<vec<T,2> *>(this); }
 91 |     };
 92 |     template<class T> struct vec<T,4>
 93 |     {
 94 |         T                           x,y,z,w;
 95 |         constexpr                   vec()                           : x(), y(), z(), w() {}
 96 |         constexpr                   vec(T x, T y, T z, T w)         : x(x), y(y), z(z), w(w) {}
 97 |         constexpr explicit          vec(T s)                        : x(s), y(s), z(s), w(s) {}
 98 |         constexpr explicit          vec(const T * p)                : vec(p[0], p[1], p[2], p[3]) {}
 99 |         template<class U> 
100 |         constexpr explicit          vec(const vec<U,4> & v)         : vec(static_cast<T>(v.x), static_cast<T>(v.y), static_cast<T>(v.z), static_cast<T>(v.w)) {}
101 |         constexpr                   vec(const vec<T,3> & xyz, T w)  : vec(xyz.x, xyz.y, xyz.z, w) {}
102 |         constexpr const T &         operator[] (int i) const        { return (&x)[i]; }
103 |         T &                         operator[] (int i)              { return (&x)[i]; }
104 |         constexpr const vec<T,3> &  xyz() const                     { return *reinterpret_cast<const vec<T,3> *>(this); }
105 |         vec<T,3> &                  xyz()                           { return *reinterpret_cast<vec<T,3> *>(this); }
106 |     };
107 | 
108 |     // Small, fixed-size matrix type, consisting of exactly M rows and N columns of type T, stored in column-major order.
109 |     template<class T, int M, int N> struct mat;
110 |     template<class T, int M> struct mat<T,M,2>
111 |     {
112 |         typedef vec<T,M>            V;
113 |         V                           x,y;
114 |         constexpr                   mat()                           : x(), y() {}
115 |         constexpr                   mat(V x, V y)                   : x(x), y(y) {}
116 |         constexpr explicit          mat(T s)                        : x(s), y(s) {}
117 |         constexpr explicit          mat(const T * p)                : x(p+M*0), y(p+M*1) {}
118 |         template<class U> 
119 |         constexpr explicit          mat(const mat<U,M,2> & m)       : mat(V(m.x), V(m.y)) {}
120 |         constexpr vec<T,2>          row(int i) const                { return {x[i], y[i]}; }
121 |         constexpr const V &         operator[] (int j) const        { return (&x)[j]; }
122 |         V &                         operator[] (int j)              { return (&x)[j]; }
123 |     };
124 |     template<class T, int M> struct mat<T,M,3>
125 |     {
126 |         typedef vec<T,M>            V;
127 |         V                           x,y,z;
128 |         constexpr                   mat()                           : x(), y(), z() {}
129 |         constexpr                   mat(V x, V y, V z)              : x(x), y(y), z(z) {}
130 |         constexpr explicit          mat(T s)                        : x(s), y(s), z(s) {}
131 |         constexpr explicit          mat(const T * p)                : x(p+M*0), y(p+M*1), z(p+M*2) {}
132 |         template<class U> 
133 |         constexpr explicit          mat(const mat<U,M,3> & m)       : mat(V(m.x), V(m.y), V(m.z)) {}
134 |         constexpr vec<T,3>          row(int i) const                { return {x[i], y[i], z[i]}; }
135 |         constexpr const V &         operator[] (int j) const        { return (&x)[j]; }
136 |         V &                         operator[] (int j)              { return (&x)[j]; }
137 |     };
138 |     template<class T, int M> struct mat<T,M,4>
139 |     {
140 |         typedef vec<T,M>            V;
141 |         V                           x,y,z,w;
142 |         constexpr                   mat()                           : x(), y(), z(), w() {}
143 |         constexpr                   mat(V x, V y, V z, V w)         : x(x), y(y), z(z), w(w) {}
144 |         constexpr explicit          mat(T s)                        : x(s), y(s), z(s), w(s) {}
145 |         constexpr explicit          mat(const T * p)                : x(p+M*0), y(p+M*1), z(p+M*2), w(p+M*3) {}
146 |         template<class U> 
147 |         constexpr explicit          mat(const mat<U,M,4> & m)       : mat(V(m.x), V(m.y), V(m.z), V(m.w)) {}
148 |         constexpr vec<T,4>          row(int i) const                { return {x[i], y[i], z[i], w[i]}; }
149 |         constexpr const V &         operator[] (int j) const        { return (&x)[j]; }
150 |         V &                         operator[] (int j)              { return (&x)[j]; }
151 |     };
152 | 
153 |     // Type traits for a binary operation involving linear algebra types, used for SFINAE on templated functions and operator overloads
154 |     template<class A, class B> struct traits {};
155 |     template<class T, int M       > struct traits<vec<T,M  >, vec<T,M  >> { typedef T scalar; typedef vec<T,M  > result; typedef vec<bool,M  > bool_result; typedef vec<decltype(+T()),M  > arith_result; typedef std::array<T,M> compare_as; };
156 |     template<class T, int M       > struct traits<vec<T,M  >, T         > { typedef T scalar; typedef vec<T,M  > result; typedef vec<bool,M  > bool_result; typedef vec<decltype(+T()),M  > arith_result; };
157 |     template<class T, int M       > struct traits<T,          vec<T,M  >> { typedef T scalar; typedef vec<T,M  > result; typedef vec<bool,M  > bool_result; typedef vec<decltype(+T()),M  > arith_result; };
158 |     template<class T, int M, int N> struct traits<mat<T,M,N>, mat<T,M,N>> { typedef T scalar; typedef mat<T,M,N> result; typedef mat<bool,M,N> bool_result; typedef mat<decltype(+T()),M,N> arith_result; typedef std::array<T,M*N> compare_as; };
159 |     template<class T, int M, int N> struct traits<mat<T,M,N>, T         > { typedef T scalar; typedef mat<T,M,N> result; typedef mat<bool,M,N> bool_result; typedef mat<decltype(+T()),M,N> arith_result; };
160 |     template<class T, int M, int N> struct traits<T,          mat<T,M,N>> { typedef T scalar; typedef mat<T,M,N> result; typedef mat<bool,M,N> bool_result; typedef mat<decltype(+T()),M,N> arith_result; };
161 |     template<class A, class B=A> using scalar_t = typename traits<A,B>::scalar; // Underlying scalar type when performing elementwise operations
162 |     template<class A, class B=A> using result_t = typename traits<A,B>::result; // Result of calling a function on linear algebra types
163 |     template<class A, class B=A> using bool_result_t = typename traits<A,B>::bool_result; // Result of a comparison or unary not operation on linear algebra types
164 |     template<class A, class B=A> using arith_result_t = typename traits<A,B>::arith_result; // Result of an arithmetic operation on linear algebra types (accounts for integer promotion)
165 | 
166 |     // Produce a scalar by applying f(T,T) -> T to adjacent pairs of elements from vector a in left-to-right order (matching the associativity of arithmetic and logical operators)
167 |     template<class T, class F> constexpr T fold(const vec<T,2> & a, F f) { return f(a.x,a.y); }
168 |     template<class T, class F> constexpr T fold(const vec<T,3> & a, F f) { return f(f(a.x,a.y),a.z); }
169 |     template<class T, class F> constexpr T fold(const vec<T,4> & a, F f) { return f(f(f(a.x,a.y),a.z),a.w); }
170 | 
171 |     // Produce a vector/matrix by applying f(T,T) to corresponding pairs of elements from vectors/matrix a and b
172 |     template<class T,               class F> constexpr auto zip(const vec<T,2  > & a, const vec<T,2  > & b, F f) -> vec<decltype(f(T(),T())),2  > { return {f(a.x,b.x), f(a.y,b.y)}; }
173 |     template<class T,               class F> constexpr auto zip(const vec<T,3  > & a, const vec<T,3  > & b, F f) -> vec<decltype(f(T(),T())),3  > { return {f(a.x,b.x), f(a.y,b.y), f(a.z,b.z)}; }
174 |     template<class T,               class F> constexpr auto zip(const vec<T,4  > & a, const vec<T,4  > & b, F f) -> vec<decltype(f(T(),T())),4  > { return {f(a.x,b.x), f(a.y,b.y), f(a.z,b.z), f(a.w,b.w)}; }
175 |     template<class T, int M,        class F> constexpr auto zip(const vec<T,M  > & a,                  T b, F f) -> vec<decltype(f(T(),T())),M  > { return zip(a, vec<T,M>(b), f); }
176 |     template<class T, int M,        class F> constexpr auto zip(                 T a, const vec<T,M  > & b, F f) -> vec<decltype(f(T(),T())),M  > { return zip(vec<T,M>(a), b, f); }
177 |     template<class T, int M,        class F> constexpr auto zip(const mat<T,M,2> & a, const mat<T,M,2> & b, F f) -> mat<decltype(f(T(),T())),M,2> { return {zip(a.x,b.x,f), zip(a.y,b.y,f)}; }
178 |     template<class T, int M,        class F> constexpr auto zip(const mat<T,M,3> & a, const mat<T,M,3> & b, F f) -> mat<decltype(f(T(),T())),M,3> { return {zip(a.x,b.x,f), zip(a.y,b.y,f), zip(a.z,b.z,f)}; }
179 |     template<class T, int M,        class F> constexpr auto zip(const mat<T,M,4> & a, const mat<T,M,4> & b, F f) -> mat<decltype(f(T(),T())),M,4> { return {zip(a.x,b.x,f), zip(a.y,b.y,f), zip(a.z,b.z,f), zip(a.w,b.w,f)}; }
180 |     template<class T, int M, int N, class F> constexpr auto zip(const mat<T,M,N> & a,                  T b, F f) -> mat<decltype(f(T(),T())),M,N> { return zip(a, mat<T,M,N>(b), f); }
181 |     template<class T, int M, int N, class F> constexpr auto zip(                 T a, const mat<T,M,N> & b, F f) -> mat<decltype(f(T(),T())),M,N> { return zip(mat<T,M,N>(a), b, f); }
182 | 
183 |     // Produce a vector/matrix by applying f(T) to elements from vector/matrix a
184 |     template<class T, int M,        class F> constexpr auto map(const vec<T,M  > & a, F f) -> vec<decltype(f(T())),M  > { return zip(a, a, [f](T l, T) { return f(l); }); }
185 |     template<class T, int M, int N, class F> constexpr auto map(const mat<T,M,N> & a, F f) -> mat<decltype(f(T())),M,N> { return zip(a, a, [f](T l, T) { return f(l); }); }
186 | 
187 |     // Relational operators are defined to compare the elements of two vectors or matrices lexicographically, in column-major order
188 |     template<class A, class C=typename traits<A,A>::compare_as> constexpr bool operator == (const A & a, const A & b) { return reinterpret_cast<const C &>(a) == reinterpret_cast<const C &>(b); } 
189 |     template<class A, class C=typename traits<A,A>::compare_as> constexpr bool operator != (const A & a, const A & b) { return reinterpret_cast<const C &>(a) != reinterpret_cast<const C &>(b); } 
190 |     template<class A, class C=typename traits<A,A>::compare_as> constexpr bool operator <  (const A & a, const A & b) { return reinterpret_cast<const C &>(a) <  reinterpret_cast<const C &>(b); } 
191 |     template<class A, class C=typename traits<A,A>::compare_as> constexpr bool operator >  (const A & a, const A & b) { return reinterpret_cast<const C &>(a) >  reinterpret_cast<const C &>(b); } 
192 |     template<class A, class C=typename traits<A,A>::compare_as> constexpr bool operator <= (const A & a, const A & b) { return reinterpret_cast<const C &>(a) <= reinterpret_cast<const C &>(b); } 
193 |     template<class A, class C=typename traits<A,A>::compare_as> constexpr bool operator >= (const A & a, const A & b) { return reinterpret_cast<const C &>(a) >= reinterpret_cast<const C &>(b); }
194 | 
195 |     // Lambdas are not permitted inside constexpr functions, so we provide explicit function objects instead
196 |     namespace op
197 |     {
198 |         template<class T> struct pos { constexpr auto operator() (T r) const -> decltype(+r) { return +r; } };
199 |         template<class T> struct neg { constexpr auto operator() (T r) const -> decltype(-r) { return -r; } };
200 |         template<class T> struct add { constexpr auto operator() (T l, T r) const -> decltype(l + r) { return l + r; } };
201 |         template<class T> struct sub { constexpr auto operator() (T l, T r) const -> decltype(l - r) { return l - r; } };
202 |         template<class T> struct mul { constexpr auto operator() (T l, T r) const -> decltype(l * r) { return l * r; } };
203 |         template<class T> struct div { constexpr auto operator() (T l, T r) const -> decltype(l / r) { return l / r; } };
204 |         template<class T> struct mod { constexpr auto operator() (T l, T r) const -> decltype(l % r) { return l % r; } };
205 |         template<class T> struct lshift { constexpr auto operator() (T l, T r) const -> decltype(l << r) { return l << r; } };
206 |         template<class T> struct rshift { constexpr auto operator() (T l, T r) const -> decltype(l >> r) { return l >> r; } };        
207 | 
208 |         template<class T> struct binary_not { constexpr auto operator() (T r) const -> decltype(+r) { return ~r; } };
209 |         template<class T> struct binary_or  { constexpr auto operator() (T l, T r) const -> decltype(l | r) { return l | r; } };
210 |         template<class T> struct binary_xor { constexpr auto operator() (T l, T r) const -> decltype(l ^ r) { return l ^ r; } };
211 |         template<class T> struct binary_and { constexpr auto operator() (T l, T r) const -> decltype(l & r) { return l & r; } };
212 | 
213 |         template<class T> struct logical_not { constexpr bool operator() (T r) const { return !r; } };
214 |         template<class T> struct logical_or  { constexpr bool operator() (T l, T r) const { return l || r; } };
215 |         template<class T> struct logical_and { constexpr bool operator() (T l, T r) const { return l && r; } };        
216 | 
217 |         template<class T> struct equal   { constexpr bool operator() (T l, T r) const { return l == r; } };
218 |         template<class T> struct nequal  { constexpr bool operator() (T l, T r) const { return l != r; } };
219 |         template<class T> struct less    { constexpr bool operator() (T l, T r) const { return l <  r; } };
220 |         template<class T> struct greater { constexpr bool operator() (T l, T r) const { return l >  r; } };
221 |         template<class T> struct lequal  { constexpr bool operator() (T l, T r) const { return l <= r; } };
222 |         template<class T> struct gequal  { constexpr bool operator() (T l, T r) const { return l >= r; } };
223 | 
224 |         template<class T> struct min { constexpr T operator() (T l, T r) const { return l < r ? l : r; } };
225 |         template<class T> struct max { constexpr T operator() (T l, T r) const { return l > r ? l : r; } };
226 |     }
227 | 
228 |     // Functions for coalescing scalar values
229 |     template<int M> constexpr bool any(const vec<bool,M> & a) { return fold(a, op::logical_or<bool>{}); }
230 |     template<int M> constexpr bool all(const vec<bool,M> & a) { return fold(a, op::logical_and<bool>{}); }
231 |     template<class T, int M> constexpr T sum    (const vec<T,M> & a)  { return fold(a, op::add<T>{}); }
232 |     template<class T, int M> constexpr T product(const vec<T,M> & a)  { return fold(a, op::mul<T>{}); }
233 |     template<class T, int M> int argmin(const vec<T,M> & a) { int j=0; for(int i=1; i<M; ++i) if(a[i] < a[j]) j = i; return j; }
234 |     template<class T, int M> int argmax(const vec<T,M> & a) { int j=0; for(int i=1; i<M; ++i) if(a[i] > a[j]) j = i; return j; }
235 |     template<class T, int M> T minelem(const vec<T,M> & a) { return a[argmin(a)]; }
236 |     template<class T, int M> T maxelem(const vec<T,M> & a) { return a[argmax(a)]; }
237 | 
238 |     // Overloads for unary operators on vectors are implemented in terms of elementwise application of the operator
239 |     template<class A> constexpr arith_result_t<A> operator + (const A & a) { return map(a, op::pos<scalar_t<A>>{}); }
240 |     template<class A> constexpr arith_result_t<A> operator - (const A & a) { return map(a, op::neg<scalar_t<A>>{}); }
241 |     template<class A> constexpr arith_result_t<A> operator ~ (const A & a) { return map(a, op::binary_not<scalar_t<A>>{}); }
242 |     template<class A> constexpr bool_result_t<A> operator ! (const A & a) { return map(a, op::logical_not<scalar_t<A>>{}); }
243 | 
244 |     // Mirror the set of unary scalar math functions to apply elementwise to vectors
245 |     template<class A> result_t<A> abs  (const A & a) { return map(a, [](scalar_t<A> l) { return std::abs  (l); }); }
246 |     template<class A> result_t<A> floor(const A & a) { return map(a, [](scalar_t<A> l) { return std::floor(l); }); }
247 |     template<class A> result_t<A> ceil (const A & a) { return map(a, [](scalar_t<A> l) { return std::ceil (l); }); }
248 |     template<class A> result_t<A> exp  (const A & a) { return map(a, [](scalar_t<A> l) { return std::exp  (l); }); }
249 |     template<class A> result_t<A> log  (const A & a) { return map(a, [](scalar_t<A> l) { return std::log  (l); }); }
250 |     template<class A> result_t<A> log10(const A & a) { return map(a, [](scalar_t<A> l) { return std::log10(l); }); }
251 |     template<class A> result_t<A> sqrt (const A & a) { return map(a, [](scalar_t<A> l) { return std::sqrt (l); }); }
252 |     template<class A> result_t<A> sin  (const A & a) { return map(a, [](scalar_t<A> l) { return std::sin  (l); }); }
253 |     template<class A> result_t<A> cos  (const A & a) { return map(a, [](scalar_t<A> l) { return std::cos  (l); }); }
254 |     template<class A> result_t<A> tan  (const A & a) { return map(a, [](scalar_t<A> l) { return std::tan  (l); }); }
255 |     template<class A> result_t<A> asin (const A & a) { return map(a, [](scalar_t<A> l) { return std::asin (l); }); }
256 |     template<class A> result_t<A> acos (const A & a) { return map(a, [](scalar_t<A> l) { return std::acos (l); }); }
257 |     template<class A> result_t<A> atan (const A & a) { return map(a, [](scalar_t<A> l) { return std::atan (l); }); }
258 |     template<class A> result_t<A> sinh (const A & a) { return map(a, [](scalar_t<A> l) { return std::sinh (l); }); }
259 |     template<class A> result_t<A> cosh (const A & a) { return map(a, [](scalar_t<A> l) { return std::cosh (l); }); }
260 |     template<class A> result_t<A> tanh (const A & a) { return map(a, [](scalar_t<A> l) { return std::tanh (l); }); }
261 |     template<class A> result_t<A> round(const A & a) { return map(a, [](scalar_t<A> l) { return std::round(l); }); }
262 |     template<class A> result_t<A> fract(const A & a) { return map(a, [](scalar_t<A> l) { return l - std::floor(l); }); }
263 | 
264 |     // Overloads for vector op vector are implemented in terms of elementwise application of the operator, followed by casting back to the original type (integer promotion is suppressed)
265 |     template<class A, class B> constexpr arith_result_t<A,B> operator +  (const A & a, const B & b) { return zip(a, b, op::add<scalar_t<A,B>>{}); }
266 |     template<class A, class B> constexpr arith_result_t<A,B> operator -  (const A & a, const B & b) { return zip(a, b, op::sub<scalar_t<A,B>>{}); }
267 |     template<class A, class B> constexpr arith_result_t<A,B> operator *  (const A & a, const B & b) { return zip(a, b, op::mul<scalar_t<A,B>>{}); }
268 |     template<class A, class B> constexpr arith_result_t<A,B> operator /  (const A & a, const B & b) { return zip(a, b, op::div<scalar_t<A,B>>{}); }
269 |     template<class A, class B> constexpr arith_result_t<A,B> operator %  (const A & a, const B & b) { return zip(a, b, op::mod<scalar_t<A,B>>{}); }
270 |     template<class A, class B> constexpr arith_result_t<A,B> operator |  (const A & a, const B & b) { return zip(a, b, op::binary_or<scalar_t<A,B>>{}); }
271 |     template<class A, class B> constexpr arith_result_t<A,B> operator ^  (const A & a, const B & b) { return zip(a, b, op::binary_xor<scalar_t<A,B>>{}); }
272 |     template<class A, class B> constexpr arith_result_t<A,B> operator &  (const A & a, const B & b) { return zip(a, b, op::binary_and<scalar_t<A,B>>{}); }
273 |     template<class A, class B> constexpr arith_result_t<A,B> operator << (const A & a, const B & b) { return zip(a, b, op::lshift<scalar_t<A,B>>{}); }
274 |     template<class A, class B> constexpr arith_result_t<A,B> operator >> (const A & a, const B & b) { return zip(a, b, op::rshift<scalar_t<A,B>>{}); }
275 |     
276 |     // Overloads for assignment operators are implemented trivially
277 |     template<class A, class B> result_t<A,A> & operator +=  (A & a, const B & b) { return a = a + b; }
278 |     template<class A, class B> result_t<A,A> & operator -=  (A & a, const B & b) { return a = a - b; }
279 |     template<class A, class B> result_t<A,A> & operator *=  (A & a, const B & b) { return a = a * b; }
280 |     template<class A, class B> result_t<A,A> & operator /=  (A & a, const B & b) { return a = a / b; }
281 |     template<class A, class B> result_t<A,A> & operator %=  (A & a, const B & b) { return a = a % b; }
282 |     template<class A, class B> result_t<A,A> & operator |=  (A & a, const B & b) { return a = a | b; }
283 |     template<class A, class B> result_t<A,A> & operator ^=  (A & a, const B & b) { return a = a ^ b; }
284 |     template<class A, class B> result_t<A,A> & operator &=  (A & a, const B & b) { return a = a & b; }
285 |     template<class A, class B> result_t<A,A> & operator <<= (A & a, const B & b) { return a = a << b; }
286 |     template<class A, class B> result_t<A,A> & operator >>= (A & a, const B & b) { return a = a >> b; }
287 | 
288 |     // Mirror the set of binary scalar math functions to apply elementwise to vectors
289 |     template<class A, class B> constexpr result_t<A,B> min  (const A & a, const B & b) { return zip(a, b, op::min<scalar_t<A,B>>{}); }
290 |     template<class A, class B> constexpr result_t<A,B> max  (const A & a, const B & b) { return zip(a, b, op::max<scalar_t<A,B>>{}); }
291 |     template<class A, class B> constexpr result_t<A,B> clamp(const A & a, const B & b, const B & c) { return min(max(a,b),c); } // TODO: Revisit
292 |     template<class A, class B> result_t<A,B> fmod    (const A & a, const B & b) { return zip(a, b, [](scalar_t<A,B> l, scalar_t<A,B> r) { return std::fmod    (l, r); }); }
293 |     template<class A, class B> result_t<A,B> pow     (const A & a, const B & b) { return zip(a, b, [](scalar_t<A,B> l, scalar_t<A,B> r) { return std::pow     (l, r); }); }
294 |     template<class A, class B> result_t<A,B> atan2   (const A & a, const B & b) { return zip(a, b, [](scalar_t<A,B> l, scalar_t<A,B> r) { return std::atan2   (l, r); }); }
295 |     template<class A, class B> result_t<A,B> copysign(const A & a, const B & b) { return zip(a, b, [](scalar_t<A,B> l, scalar_t<A,B> r) { return std::copysign(l, r); }); }
296 | 
297 |     // Functions for componentwise application of equivalence and relational operators
298 |     template<class A, class B> bool_result_t<A,B> equal  (const A & a, const B & b) { return zip(a, b, op::equal  <scalar_t<A,B>>{}); }
299 |     template<class A, class B> bool_result_t<A,B> nequal (const A & a, const B & b) { return zip(a, b, op::nequal <scalar_t<A,B>>{}); }
300 |     template<class A, class B> bool_result_t<A,B> less   (const A & a, const B & b) { return zip(a, b, op::less   <scalar_t<A,B>>{}); }
301 |     template<class A, class B> bool_result_t<A,B> greater(const A & a, const B & b) { return zip(a, b, op::greater<scalar_t<A,B>>{}); }
302 |     template<class A, class B> bool_result_t<A,B> lequal (const A & a, const B & b) { return zip(a, b, op::lequal <scalar_t<A,B>>{}); }
303 |     template<class A, class B> bool_result_t<A,B> gequal (const A & a, const B & b) { return zip(a, b, op::gequal <scalar_t<A,B>>{}); }
304 | 
305 |     // Support for vector algebra
306 |     template<class T> constexpr T                 cross    (const vec<T,2> & a, const vec<T,2> & b)      { return a.x*b.y-a.y*b.x; }
307 |     template<class T> constexpr vec<T,3>          cross    (const vec<T,3> & a, const vec<T,3> & b)      { return {a.y*b.z-a.z*b.y, a.z*b.x-a.x*b.z, a.x*b.y-a.y*b.x}; }
308 |     template<class T, int M> constexpr T          dot      (const vec<T,M> & a, const vec<T,M> & b)      { return sum(a*b); }
309 |     template<class T, int M> constexpr T          length2  (const vec<T,M> & a)                          { return dot(a,a); }
310 |     template<class T, int M> T                    length   (const vec<T,M> & a)                          { return std::sqrt(length2(a)); }
311 |     template<class T, int M> vec<T,M>             normalize(const vec<T,M> & a)                          { return a / length(a); }
312 |     template<class T, int M> constexpr T          distance2(const vec<T,M> & a, const vec<T,M> & b)      { return length2(b-a); }
313 |     template<class T, int M> T                    distance (const vec<T,M> & a, const vec<T,M> & b)      { return length(b-a); }
314 |     template<class T, int M> T                    uangle   (const vec<T,M> & a, const vec<T,M> & b)      { T d=dot(a,b); return d > 1 ? 0 : std::acos(d < -1 ? -1 : d); }
315 |     template<class T, int M> T                    angle    (const vec<T,M> & a, const vec<T,M> & b)      { return uangle(normalize(a), normalize(b)); }
316 |     template<class T, int M> constexpr vec<T,M>   lerp     (const vec<T,M> & a, const vec<T,M> & b, T t) { return a*(1-t) + b*t; }
317 |     template<class T, int M> vec<T,M>             nlerp    (const vec<T,M> & a, const vec<T,M> & b, T t) { return normalize(lerp(a,b,t)); }
318 |     template<class T, int M> vec<T,M>             slerp    (const vec<T,M> & a, const vec<T,M> & b, T t) { T th=uangle(a,b); return th == 0 ? a : a*(std::sin(th*(1-t))/std::sin(th)) + b*(std::sin(th*t)/std::sin(th)); }
319 |     template<class T, int M> constexpr mat<T,M,2> outerprod(const vec<T,M> & a, const vec<T,2> & b)      { return {a*b.x, a*b.y}; }
320 |     template<class T, int M> constexpr mat<T,M,3> outerprod(const vec<T,M> & a, const vec<T,3> & b)      { return {a*b.x, a*b.y, a*b.z}; }
321 |     template<class T, int M> constexpr mat<T,M,4> outerprod(const vec<T,M> & a, const vec<T,4> & b)      { return {a*b.x, a*b.y, a*b.z, a*b.w}; }
322 | 
323 |     // Support for quaternion algebra using 4D vectors, representing xi + yj + zk + w
324 |     template<class T> constexpr vec<T,4> qconj(const vec<T,4> & q)                     { return {-q.x,-q.y,-q.z,q.w}; }
325 |     template<class T> vec<T,4>           qinv (const vec<T,4> & q)                     { return qconj(q)/length2(q); }
326 |     template<class T> vec<T,4>           qexp (const vec<T,4> & q)                     { const auto v = q.xyz(); const auto vv = length(v); return std::exp(q.w) * vec<T,4>{v * (vv > 0 ? std::sin(vv)/vv : 0), std::cos(vv)}; }
327 |     template<class T> vec<T,4>           qlog (const vec<T,4> & q)                     { const auto v = q.xyz(); const auto vv = length(v), qq = length(q); return {v * (vv > 0 ? std::acos(q.w/qq)/vv : 0), std::log(qq)}; }
328 |     template<class T> vec<T,4>           qpow (const vec<T,4> & q, const T & p)        { const auto v = q.xyz(); const auto vv = length(v), qq = length(q), th = std::acos(q.w/qq); return std::pow(qq,p)*vec<T,4>{v * (vv > 0 ? std::sin(p*th)/vv : 0), std::cos(p*th)}; }
329 |     template<class T> constexpr vec<T,4> qmul (const vec<T,4> & a, const vec<T,4> & b) { return {a.x*b.w+a.w*b.x+a.y*b.z-a.z*b.y, a.y*b.w+a.w*b.y+a.z*b.x-a.x*b.z, a.z*b.w+a.w*b.z+a.x*b.y-a.y*b.x, a.w*b.w-a.x*b.x-a.y*b.y-a.z*b.z}; }
330 |     template<class T, class... R> constexpr vec<T,4> qmul(const vec<T,4> & a, R... r)  { return qmul(a, qmul(r...)); }
331 | 
332 |     // Support for 3D spatial rotations using quaternions, via qmul(qmul(q, v), qconj(q))
333 |     template<class T> constexpr vec<T,3>   qxdir (const vec<T,4> & q)                          { return {q.w*q.w+q.x*q.x-q.y*q.y-q.z*q.z, (q.x*q.y+q.z*q.w)*2, (q.z*q.x-q.y*q.w)*2}; }
334 |     template<class T> constexpr vec<T,3>   qydir (const vec<T,4> & q)                          { return {(q.x*q.y-q.z*q.w)*2, q.w*q.w-q.x*q.x+q.y*q.y-q.z*q.z, (q.y*q.z+q.x*q.w)*2}; }
335 |     template<class T> constexpr vec<T,3>   qzdir (const vec<T,4> & q)                          { return {(q.z*q.x+q.y*q.w)*2, (q.y*q.z-q.x*q.w)*2, q.w*q.w-q.x*q.x-q.y*q.y+q.z*q.z}; }
336 |     template<class T> constexpr mat<T,3,3> qmat  (const vec<T,4> & q)                          { return {qxdir(q), qydir(q), qzdir(q)}; }
337 |     template<class T> constexpr vec<T,3>   qrot  (const vec<T,4> & q, const vec<T,3> & v)      { return qxdir(q)*v.x + qydir(q)*v.y + qzdir(q)*v.z; }
338 |     template<class T> T                    qangle(const vec<T,4> & q)                          { return std::acos(q.w)*2; }
339 |     template<class T> vec<T,3>             qaxis (const vec<T,4> & q)                          { return normalize(q.xyz()); }
340 |     template<class T> vec<T,4>             qnlerp(const vec<T,4> & a, const vec<T,4> & b, T t) { return nlerp(a, dot(a,b) < 0 ? -b : b, t); }
341 |     template<class T> vec<T,4>             qslerp(const vec<T,4> & a, const vec<T,4> & b, T t) { return slerp(a, dot(a,b) < 0 ? -b : b, t); }
342 | 
343 |     // Support for matrix algebra
344 |     template<class T, int M> constexpr vec<T,M> mul(const mat<T,M,2> & a, const vec<T,2> & b) { return a.x*b.x + a.y*b.y; }
345 |     template<class T, int M> constexpr vec<T,M> mul(const mat<T,M,3> & a, const vec<T,3> & b) { return a.x*b.x + a.y*b.y + a.z*b.z; }
346 |     template<class T, int M> constexpr vec<T,M> mul(const mat<T,M,4> & a, const vec<T,4> & b) { return a.x*b.x + a.y*b.y + a.z*b.z + a.w*b.w; }
347 |     template<class T, int M, int N> constexpr mat<T,M,2> mul(const mat<T,M,N> & a, const mat<T,N,2> & b) { return {mul(a,b.x), mul(a,b.y)}; }
348 |     template<class T, int M, int N> constexpr mat<T,M,3> mul(const mat<T,M,N> & a, const mat<T,N,3> & b) { return {mul(a,b.x), mul(a,b.y), mul(a,b.z)}; }
349 |     template<class T, int M, int N> constexpr mat<T,M,4> mul(const mat<T,M,N> & a, const mat<T,N,4> & b) { return {mul(a,b.x), mul(a,b.y), mul(a,b.z), mul(a,b.w)}; }
350 |     #if _MSC_VER >= 1910
351 |     template<class T, int M, int N, class... R> constexpr auto mul(const mat<T,M,N> & a, R... r) { return mul(a, mul(r...)); }
352 |     #else
353 |     template<class T, int M, int N, class... R> constexpr auto mul(const mat<T,M,N> & a, R... r) -> decltype(mul(a, mul(r...))) { return mul(a, mul(r...)); }
354 |     #endif    
355 |     template<class T> constexpr vec<T,2> diagonal(const mat<T,2,2> & a) { return {a.x.x, a.y.y}; }
356 |     template<class T> constexpr vec<T,3> diagonal(const mat<T,3,3> & a) { return {a.x.x, a.y.y, a.z.z}; }
357 |     template<class T> constexpr vec<T,4> diagonal(const mat<T,4,4> & a) { return {a.x.x, a.y.y, a.z.z, a.w.w}; }
358 |     template<class T, int M> constexpr mat<T,M,2> transpose(const mat<T,2,M> & m) { return {m.row(0), m.row(1)}; }
359 |     template<class T, int M> constexpr mat<T,M,3> transpose(const mat<T,3,M> & m) { return {m.row(0), m.row(1), m.row(2)}; }
360 |     template<class T, int M> constexpr mat<T,M,4> transpose(const mat<T,4,M> & m) { return {m.row(0), m.row(1), m.row(2), m.row(3)}; }
361 |     template<class T> constexpr mat<T,2,2> adjugate(const mat<T,2,2> & a) { return {{a.y.y, -a.x.y}, {-a.y.x, a.x.x}}; }
362 |     template<class T> constexpr mat<T,3,3> adjugate(const mat<T,3,3> & a) { return {
363 |         {a.y.y*a.z.z - a.z.y*a.y.z, a.z.y*a.x.z - a.x.y*a.z.z, a.x.y*a.y.z - a.y.y*a.x.z},
364 |         {a.y.z*a.z.x - a.z.z*a.y.x, a.z.z*a.x.x - a.x.z*a.z.x, a.x.z*a.y.x - a.y.z*a.x.x},
365 |         {a.y.x*a.z.y - a.z.x*a.y.y, a.z.x*a.x.y - a.x.x*a.z.y, a.x.x*a.y.y - a.y.x*a.x.y}}; }
366 |     template<class T> constexpr mat<T,4,4> adjugate(const mat<T,4,4> & a) { return {
367 |         {a.y.y*a.z.z*a.w.w + a.w.y*a.y.z*a.z.w + a.z.y*a.w.z*a.y.w - a.y.y*a.w.z*a.z.w - a.z.y*a.y.z*a.w.w - a.w.y*a.z.z*a.y.w,
368 |          a.x.y*a.w.z*a.z.w + a.z.y*a.x.z*a.w.w + a.w.y*a.z.z*a.x.w - a.w.y*a.x.z*a.z.w - a.z.y*a.w.z*a.x.w - a.x.y*a.z.z*a.w.w,
369 |          a.x.y*a.y.z*a.w.w + a.w.y*a.x.z*a.y.w + a.y.y*a.w.z*a.x.w - a.x.y*a.w.z*a.y.w - a.y.y*a.x.z*a.w.w - a.w.y*a.y.z*a.x.w,
370 |          a.x.y*a.z.z*a.y.w + a.y.y*a.x.z*a.z.w + a.z.y*a.y.z*a.x.w - a.x.y*a.y.z*a.z.w - a.z.y*a.x.z*a.y.w - a.y.y*a.z.z*a.x.w},
371 |         {a.y.z*a.w.w*a.z.x + a.z.z*a.y.w*a.w.x + a.w.z*a.z.w*a.y.x - a.y.z*a.z.w*a.w.x - a.w.z*a.y.w*a.z.x - a.z.z*a.w.w*a.y.x,
372 |          a.x.z*a.z.w*a.w.x + a.w.z*a.x.w*a.z.x + a.z.z*a.w.w*a.x.x - a.x.z*a.w.w*a.z.x - a.z.z*a.x.w*a.w.x - a.w.z*a.z.w*a.x.x,
373 |          a.x.z*a.w.w*a.y.x + a.y.z*a.x.w*a.w.x + a.w.z*a.y.w*a.x.x - a.x.z*a.y.w*a.w.x - a.w.z*a.x.w*a.y.x - a.y.z*a.w.w*a.x.x,
374 |          a.x.z*a.y.w*a.z.x + a.z.z*a.x.w*a.y.x + a.y.z*a.z.w*a.x.x - a.x.z*a.z.w*a.y.x - a.y.z*a.x.w*a.z.x - a.z.z*a.y.w*a.x.x},
375 |         {a.y.w*a.z.x*a.w.y + a.w.w*a.y.x*a.z.y + a.z.w*a.w.x*a.y.y - a.y.w*a.w.x*a.z.y - a.z.w*a.y.x*a.w.y - a.w.w*a.z.x*a.y.y,
376 |          a.x.w*a.w.x*a.z.y + a.z.w*a.x.x*a.w.y + a.w.w*a.z.x*a.x.y - a.x.w*a.z.x*a.w.y - a.w.w*a.x.x*a.z.y - a.z.w*a.w.x*a.x.y,
377 |          a.x.w*a.y.x*a.w.y + a.w.w*a.x.x*a.y.y + a.y.w*a.w.x*a.x.y - a.x.w*a.w.x*a.y.y - a.y.w*a.x.x*a.w.y - a.w.w*a.y.x*a.x.y,
378 |          a.x.w*a.z.x*a.y.y + a.y.w*a.x.x*a.z.y + a.z.w*a.y.x*a.x.y - a.x.w*a.y.x*a.z.y - a.z.w*a.x.x*a.y.y - a.y.w*a.z.x*a.x.y},
379 |         {a.y.x*a.w.y*a.z.z + a.z.x*a.y.y*a.w.z + a.w.x*a.z.y*a.y.z - a.y.x*a.z.y*a.w.z - a.w.x*a.y.y*a.z.z - a.z.x*a.w.y*a.y.z,
380 |          a.x.x*a.z.y*a.w.z + a.w.x*a.x.y*a.z.z + a.z.x*a.w.y*a.x.z - a.x.x*a.w.y*a.z.z - a.z.x*a.x.y*a.w.z - a.w.x*a.z.y*a.x.z,
381 |          a.x.x*a.w.y*a.y.z + a.y.x*a.x.y*a.w.z + a.w.x*a.y.y*a.x.z - a.x.x*a.y.y*a.w.z - a.w.x*a.x.y*a.y.z - a.y.x*a.w.y*a.x.z,
382 |          a.x.x*a.y.y*a.z.z + a.z.x*a.x.y*a.y.z + a.y.x*a.z.y*a.x.z - a.x.x*a.z.y*a.y.z - a.y.x*a.x.y*a.z.z - a.z.x*a.y.y*a.x.z}}; }
383 |     template<class T> constexpr T determinant(const mat<T,2,2> & a) { return a.x.x*a.y.y - a.x.y*a.y.x; }
384 |     template<class T> constexpr T determinant(const mat<T,3,3> & a) { return a.x.x*(a.y.y*a.z.z - a.z.y*a.y.z) + a.x.y*(a.y.z*a.z.x - a.z.z*a.y.x) + a.x.z*(a.y.x*a.z.y - a.z.x*a.y.y); }
385 |     template<class T> constexpr T determinant(const mat<T,4,4> & a) { return a.x.x*(a.y.y*a.z.z*a.w.w + a.w.y*a.y.z*a.z.w + a.z.y*a.w.z*a.y.w - a.y.y*a.w.z*a.z.w - a.z.y*a.y.z*a.w.w - a.w.y*a.z.z*a.y.w)
386 |                                                                            + a.x.y*(a.y.z*a.w.w*a.z.x + a.z.z*a.y.w*a.w.x + a.w.z*a.z.w*a.y.x - a.y.z*a.z.w*a.w.x - a.w.z*a.y.w*a.z.x - a.z.z*a.w.w*a.y.x)
387 |                                                                            + a.x.z*(a.y.w*a.z.x*a.w.y + a.w.w*a.y.x*a.z.y + a.z.w*a.w.x*a.y.y - a.y.w*a.w.x*a.z.y - a.z.w*a.y.x*a.w.y - a.w.w*a.z.x*a.y.y)
388 |                                                                            + a.x.w*(a.y.x*a.w.y*a.z.z + a.z.x*a.y.y*a.w.z + a.w.x*a.z.y*a.y.z - a.y.x*a.z.y*a.w.z - a.w.x*a.y.y*a.z.z - a.z.x*a.w.y*a.y.z); }
389 |     template<class T, int N> constexpr mat<T,N,N> inverse(const mat<T,N,N> & a) { return adjugate(a)/determinant(a); }
390 | 
391 |     // Vectors and matrices can be used as ranges
392 |     template<class T, int M>       T * begin(      vec<T,M> & a) { return &a[0]; }
393 |     template<class T, int M> const T * begin(const vec<T,M> & a) { return &a[0]; }
394 |     template<class T, int M>       T * end  (      vec<T,M> & a) { return begin(a) + M; }
395 |     template<class T, int M> const T * end  (const vec<T,M> & a) { return begin(a) + M; }
396 |     template<class T, int M, int N>       vec<T,M> * begin(      mat<T,M,N> & a) { return &a[0]; }
397 |     template<class T, int M, int N> const vec<T,M> * begin(const mat<T,M,N> & a) { return &a[0]; }
398 |     template<class T, int M, int N>       vec<T,M> * end  (      mat<T,M,N> & a) { return begin(a) + N; }
399 |     template<class T, int M, int N> const vec<T,M> * end  (const mat<T,M,N> & a) { return begin(a) + N; }
400 | 
401 |     // Factory functions for 3D spatial transformations (will possibly be removed or changed in a future version)
402 |     enum fwd_axis { neg_z, pos_z };					// Should projection matrices be generated assuming forward is {0,0,-1} or {0,0,1}
403 |     enum z_range { neg_one_to_one, zero_to_one };	// Should projection matrices map z into the range of [-1,1] or [0,1]?
404 |     template<class T> vec<T,4>   rotation_quat     (const vec<T,3> & axis, T angle)         { return {axis*std::sin(angle/2), std::cos(angle/2)}; }
405 |     template<class T> vec<T,4>   rotation_quat     (const mat<T,3,3> & m)                   { return copysign(sqrt(max(T(0), T(1) + vec<T,4>(m.x.x-m.y.y-m.z.z, m.y.y-m.x.x-m.z.z, m.z.z-m.x.x-m.y.y, m.x.x+m.y.y+m.z.z))) / T(2), vec<T,4>(m.y.z-m.z.y, m.z.x-m.x.z, m.x.y-m.y.x, 1)); }
406 |     template<class T> mat<T,4,4> translation_matrix(const vec<T,3> & translation)           { return {{1,0,0,0},{0,1,0,0},{0,0,1,0},{translation,1}}; }
407 |     template<class T> mat<T,4,4> rotation_matrix   (const vec<T,4> & rotation)              { return {{qxdir(rotation),0}, {qydir(rotation),0}, {qzdir(rotation),0}, {0,0,0,1}}; }
408 |     template<class T> mat<T,4,4> scaling_matrix    (const vec<T,3> & scaling)               { return {{scaling.x,0,0,0}, {0,scaling.y,0,0}, {0,0,scaling.z,0}, {0,0,0,1}}; }
409 |     template<class T> mat<T,4,4> pose_matrix       (const vec<T,4> & q, const vec<T,3> & p) { return {{qxdir(q),0}, {qydir(q),0}, {qzdir(q),0}, {p,1}}; }
410 |     template<class T> mat<T,4,4> frustum_matrix    (T x0, T x1, T y0, T y1, T n, T f, fwd_axis a = neg_z, z_range z = neg_one_to_one) { const T s = a == pos_z ? T(1) : T(-1); return z == zero_to_one ? mat<T,4,4>{{2*n/(x1-x0),0,0,0}, {0,2*n/(y1-y0),0,0}, {(x0+x1)/(x1-x0),(y0+y1)/(y1-y0),s*(f+0)/(f-n),s}, {0,0,-1*n*f/(f-n),0}} : mat<T,4,4>{{2*n/(x1-x0),0,0,0}, {0,2*n/(y1-y0),0,0}, {(x0+x1)/(x1-x0),(y0+y1)/(y1-y0),s*(f+n)/(f-n),s}, {0,0,-2*n*f/(f-n),0}}; }
411 |     template<class T> mat<T,4,4> perspective_matrix(T fovy, T aspect, T n, T f, fwd_axis a = neg_z, z_range z = neg_one_to_one) { T y = n*std::tan(fovy / 2), x = y*aspect; return frustum_matrix(-x, x, -y, y, n, f, a, z); }
412 | 
413 |     // Provide typedefs for common element types and vector/matrix sizes
414 |     namespace aliases
415 |     {
416 |         typedef vec<bool,2> bool2; typedef vec<uint8_t,2> byte2; typedef vec<int16_t,2> short2; typedef vec<uint16_t,2> ushort2; 
417 |         typedef vec<bool,3> bool3; typedef vec<uint8_t,3> byte3; typedef vec<int16_t,3> short3; typedef vec<uint16_t,3> ushort3; 
418 |         typedef vec<bool,4> bool4; typedef vec<uint8_t,4> byte4; typedef vec<int16_t,4> short4; typedef vec<uint16_t,4> ushort4;
419 |         typedef vec<int,2> int2; typedef vec<unsigned,2> uint2; typedef vec<float,2> float2; typedef vec<double,2> double2;
420 |         typedef vec<int,3> int3; typedef vec<unsigned,3> uint3; typedef vec<float,3> float3; typedef vec<double,3> double3;
421 |         typedef vec<int,4> int4; typedef vec<unsigned,4> uint4; typedef vec<float,4> float4; typedef vec<double,4> double4;
422 |         typedef mat<bool,2,2> bool2x2; typedef mat<int,2,2> int2x2; typedef mat<float,2,2> float2x2; typedef mat<double,2,2> double2x2;
423 |         typedef mat<bool,2,3> bool2x3; typedef mat<int,2,3> int2x3; typedef mat<float,2,3> float2x3; typedef mat<double,2,3> double2x3;
424 |         typedef mat<bool,2,4> bool2x4; typedef mat<int,2,4> int2x4; typedef mat<float,2,4> float2x4; typedef mat<double,2,4> double2x4;
425 |         typedef mat<bool,3,2> bool3x2; typedef mat<int,3,2> int3x2; typedef mat<float,3,2> float3x2; typedef mat<double,3,2> double3x2;
426 |         typedef mat<bool,3,3> bool3x3; typedef mat<int,3,3> int3x3; typedef mat<float,3,3> float3x3; typedef mat<double,3,3> double3x3;
427 |         typedef mat<bool,3,4> bool3x4; typedef mat<int,3,4> int3x4; typedef mat<float,3,4> float3x4; typedef mat<double,3,4> double3x4;
428 |         typedef mat<bool,4,2> bool4x2; typedef mat<int,4,2> int4x2; typedef mat<float,4,2> float4x2; typedef mat<double,4,2> double4x2;
429 |         typedef mat<bool,4,3> bool4x3; typedef mat<int,4,3> int4x3; typedef mat<float,4,3> float4x3; typedef mat<double,4,3> double4x3;
430 |         typedef mat<bool,4,4> bool4x4; typedef mat<int,4,4> int4x4; typedef mat<float,4,4> float4x4; typedef mat<double,4,4> double4x4;
431 |     }
432 | }
433 | 
434 | // Provide specializations for std::hash<...> with linalg types
435 | namespace std 
436 | { 
437 |     template<class T> struct hash<linalg::vec<T,2>> { std::size_t operator()(const linalg::vec<T,2> & v) const { std::hash<T> h; return h(v.x) ^ (h(v.y) << 1); } };
438 |     template<class T> struct hash<linalg::vec<T,3>> { std::size_t operator()(const linalg::vec<T,3> & v) const { std::hash<T> h; return h(v.x) ^ (h(v.y) << 1) ^ (h(v.z) << 2); } };
439 |     template<class T> struct hash<linalg::vec<T,4>> { std::size_t operator()(const linalg::vec<T,4> & v) const { std::hash<T> h; return h(v.x) ^ (h(v.y) << 1) ^ (h(v.z) << 2) ^ (h(v.w) << 3); } };
440 |     template<class T, int M> struct hash<linalg::mat<T,M,2>> { std::size_t operator()(const linalg::mat<T,M,2> & v) const { std::hash<linalg::vec<T,M>> h; return h(v.x) ^ (h(v.y) << M); } };
441 |     template<class T, int M> struct hash<linalg::mat<T,M,3>> { std::size_t operator()(const linalg::mat<T,M,3> & v) const { std::hash<linalg::vec<T,M>> h; return h(v.x) ^ (h(v.y) << M) ^ (h(v.z) << (M*2)); } };
442 |     template<class T, int M> struct hash<linalg::mat<T,M,4>> { std::size_t operator()(const linalg::mat<T,M,4> & v) const { std::hash<linalg::vec<T,M>> h; return h(v.x) ^ (h(v.y) << M) ^ (h(v.z) << (M*2)) ^ (h(v.w) << (M*3)); } };
443 | }
444 | 
445 | #endif
446 | 


--------------------------------------------------------------------------------
/tiny-gizmo-example/teapot.h:
--------------------------------------------------------------------------------
 1 | #pragma once
 2 | 
 3 | #include <stdint.h>
 4 | 
 5 | static float teapot_vertices[] =
 6 | {
 7 |     0.0479f,0.1900f,0.1425f,0.2677f,0.4803f,0.8268f,0.0466f,0.1963f,0.1386f,0.2283f,0.6614f,0.7087f,0.0000f,0.1963f,0.1460f,0.0000f,0.6614f,0.7480f,0.0000f,0.1900f,0.1500f,0.0000f,0.4803f,0.8740f,0.0453f,0.1995f,0.1348f,0.1024f,0.9291f,0.3386f,0.0000f,0.1995f,0.1420f,0.0000f,0.9291f,0.3543f,0.0444f,0.1995f,0.1320f,-0.1641f,0.8268f,-0.5234f,0.0000f,0.1995f,0.1390f,0.0000f,0.8268f,-0.5469f,0.0440f,0.1963f,0.1311f,-0.3047f,0.0000f,-0.9453f,0.0000f,0.1963f,0.1380f,0.0000f,0.0000f,-1.0000f,0.0447f,0.1900f,0.1330f,-0.2891f,-0.2969f,-0.9063f,0.0000f,0.1900f,0.1400f,0.0000f,-0.2969f,-0.9531f,0.0891f,0.1900f,0.1214f,0.5118f,0.4803f,0.7008f,0.0867f,0.1963f,0.1181f,0.4331f,0.6614f,0.5984f,0.0843f,0.1995f,0.1149f,0.2047f,0.9291f,0.2835f,0.0826f,0.1995f,0.1125f,-0.3203f,0.8268f,-0.4453f,0.0820f,0.1963f,0.1117f,-0.5859f,0.0000f,-0.8047f,0.0831f,0.1900f,0.1133f,-0.5547f,-0.2969f,-0.7656f,0.1214f,0.1900f,0.0891f,0.7008f,0.4803f,0.5118f,0.1181f,0.1963f,0.0867f,0.5984f,0.6614f,0.4331f,0.1149f,0.1995f,0.0843f,0.2835f,0.9291f,0.2047f,0.1125f,0.1995f,0.0826f,-0.4453f,0.8268f,-0.3203f,0.1117f,0.1963f,0.0820f,-0.8047f,0.0000f,-0.5859f,0.1133f,0.1900f,0.0831f,-0.7656f,-0.2969f,-0.5547f,0.1425f,0.1900f,0.0479f,0.8268f,0.4803f,0.2677f,0.1386f,0.1963f,0.0466f,0.7087f,0.6614f,0.2283f,0.1348f,0.1995f,0.0453f,0.3386f,0.9291f,0.1024f,0.1320f,0.1995f,0.0444f,-0.5234f,0.8268f,-0.1641f,0.1311f,0.1963f,0.0440f,-0.9453f,0.0000f,-0.3047f,0.1330f,0.1900f,0.0447f,-0.9063f,-0.2969f,-0.2891f,0.1500f,0.1900f,0.0000f,0.8740f,0.4803f,0.0000f,0.1460f,0.1963f,0.0000f,0.7480f,0.6614f,0.0000f,0.1420f,0.1995f,0.0000f,0.3543f,0.9291f,0.0000f,0.1390f,0.1995f,0.0000f,-0.5469f,0.8268f,0.0000f,0.1380f,0.1963f,0.0000f,-1.0000f,0.0000f,0.0000f,0.1400f,0.1900f,0.0000f,-0.9531f,-0.2969f,0.0000f,-0.1425f,0.1900f,0.0479f,-0.8281f,0.4803f,0.2677f,-0.1386f,0.1963f,0.0466f,-0.7109f,0.6614f,0.2283f,-0.1460f,0.1963f,0.0000f,-0.7422f,0.6614f,0.0000f,-0.1500f,0.1900f,0.0000f,-0.8750f,0.4803f,0.0000f,-0.1348f,0.1995f,0.0453f,-0.3359f,0.9291f,0.1024f,-0.1420f,0.1995f,0.0000f,-0.3516f,0.9291f,0.0000f,-0.1320f,0.1995f,0.0444f,0.5197f,0.8268f,-0.1641f,-0.1390f,0.1995f,0.0000f,0.5512f,0.8268f,0.0000f,-0.1311f,0.1963f,0.0440f,0.9449f,0.0000f,-0.3047f,-0.1380f,0.1963f,0.0000f,1.0000f,0.0000f,0.0000f,-0.1330f,0.1900f,0.0447f,0.9055f,-0.2969f,-0.2891f,-0.1400f,0.1900f,0.0000f,0.9528f,-0.2969f,0.0000f,-0.1214f,0.1900f,0.0891f,-0.7031f,0.4803f,0.5118f,-0.1181f,0.1963f,0.0867f,-0.6016f,0.6614f,0.4331f,-0.1149f,0.1995f,0.0843f,-0.2813f,0.9291f,0.2047f,-0.1125f,0.1995f,0.0826f,0.4409f,0.8268f,-0.3203f,-0.1117f,0.1963f,0.0820f,0.8031f,0.0000f,-0.5859f,-0.1133f,0.1900f,0.0831f,0.7717f,-0.2969f,-0.5547f,-0.0891f,0.1900f,0.1214f,-0.5078f,0.4803f,0.7008f,-0.0867f,0.1963f,0.1181f,-0.4375f,0.6614f,0.5984f,-0.0843f,0.1995f,0.1149f,-0.2031f,0.9291f,0.2835f,-0.0826f,0.1995f,0.1125f,0.3228f,0.8268f,-0.4453f,-0.0820f,0.1963f,0.1117f,0.5827f,0.0000f,-0.8047f,-0.0831f,0.1900f,0.1133f,0.5591f,-0.2969f,-0.7656f,-0.0479f,0.1900f,0.1425f,-0.2656f,0.4803f,0.8268f,-0.0466f,0.1963f,0.1386f,-0.2266f,0.6614f,0.7087f,-0.0453f,0.1995f,0.1348f,-0.1094f,0.9291f,0.3386f,-0.0444f,0.1995f,0.1320f,0.1654f,0.8268f,-0.5234f,-0.0440f,0.1963f,0.1311f,0.3071f,0.0000f,-0.9453f,-0.0447f,0.1900f,0.1330f,0.2913f,-0.2969f,-0.9063f,-0.0479f,0.1900f,-0.1425f,-0.2656f,0.4803f,-0.8281f,-0.0466f,0.1963f,-0.1386f,-0.2266f,0.6614f,-0.7109f,0.0000f,0.1963f,-0.1460f,0.0000f,0.6614f,-0.7422f,0.0000f,0.1900f,-0.1500f,0.0000f,0.4803f,-0.8750f,-0.0453f,0.1995f,-0.1348f,-0.1094f,0.9291f,-0.3359f,0.0000f,0.1995f,-0.1420f,0.0000f,0.9291f,-0.3516f,-0.0444f,0.1995f,-0.1320f,0.1654f,0.8268f,0.5197f,0.0000f,0.1995f,-0.1390f,0.0000f,0.8268f,0.5512f,-0.0440f,0.1963f,-0.1311f,0.3071f,0.0000f,0.9449f,0.0000f,0.1963f,-0.1380f,0.0000f,0.0000f,1.0000f,-0.0447f,0.1900f,-0.1330f,0.2913f,-0.2969f,0.9055f,0.0000f,0.1900f,-0.1400f,0.0000f,-0.2969f,0.9528f,-0.0891f,0.1900f,-0.1214f,-0.5078f,0.4803f,-0.7031f,-0.0867f,0.1963f,-0.1181f,-0.4375f,0.6614f,-0.6016f,-0.0843f,0.1995f,-0.1149f,-0.2031f,0.9291f,-0.2813f,-0.0826f,0.1995f,-0.1125f,0.3228f,0.8268f,0.4409f,-0.0820f,0.1963f,-0.1117f,0.5827f,0.0000f,0.8031f,-0.0831f,0.1900f,-0.1133f,0.5591f,-0.2969f,0.7717f,-0.1214f,0.1900f,-0.0891f,-0.7031f,0.4803f,-0.5078f,-0.1181f,0.1963f,-0.0867f,-0.6016f,0.6614f,-0.4375f,-0.1149f,0.1995f,-0.0843f,-0.2813f,0.9291f,-0.2031f,-0.1125f,0.1995f,-0.0826f,0.4409f,0.8268f,0.3228f,-0.1117f,0.1963f,-0.0820f,0.8031f,0.0000f,0.5827f,-0.1133f,0.1900f,-0.0831f,0.7717f,-0.2969f,0.5591f,-0.1425f,0.1900f,-0.0479f,-0.8281f,0.4803f,-0.2656f,-0.1386f,0.1963f,-0.0466f,-0.7109f,0.6614f,-0.2266f,-0.1348f,0.1995f,-0.0453f,-0.3359f,0.9291f,-0.1094f,-0.1320f,0.1995f,-0.0444f,0.5197f,0.8268f,0.1654f,-0.1311f,0.1963f,-0.0440f,0.9449f,0.0000f,0.3071f,-0.1330f,0.1900f,-0.0447f,0.9055f,-0.2969f,0.2913f,0.1425f,0.1900f,-0.0479f,0.8268f,0.4803f,-0.2656f,0.1386f,0.1963f,-0.0466f,0.7087f,0.6614f,-0.2266f,0.1348f,0.1995f,-0.0453f,0.3386f,0.9291f,-0.1094f,0.1320f,0.1995f,-0.0444f,-0.5234f,0.8268f,0.1654f,0.1311f,0.1963f,-0.0440f,-0.9453f,0.0000f,0.3071f,0.1330f,0.1900f,-0.0447f,-0.9063f,-0.2969f,0.2913f,0.1214f,0.1900f,-0.0891f,0.7008f,0.4803f,-0.5078f,0.1181f,0.1963f,-0.0867f,0.5984f,0.6614f,-0.4375f,0.1149f,0.1995f,-0.0843f,0.2835f,0.9291f,-0.2031f,0.1125f,0.1995f,-0.0826f,-0.4453f,0.8268f,0.3228f,0.1117f,0.1963f,-0.0820f,-0.8047f,0.0000f,0.5827f,0.1133f,0.1900f,-0.0831f,-0.7656f,-0.2969f,0.5591f,0.0891f,0.1900f,-0.1214f,0.5118f,0.4803f,-0.7031f,0.0867f,0.1963f,-0.1181f,0.4331f,0.6614f,-0.6016f,0.0843f,0.1995f,-0.1149f,0.2047f,0.9291f,-0.2813f,0.0826f,0.1995f,-0.1125f,-0.3203f,0.8268f,0.4409f,0.0820f,0.1963f,-0.1117f,-0.5859f,0.0000f,0.8031f,0.0831f,0.1900f,-0.1133f,-0.5547f,-0.2969f,0.7717f,0.0479f,0.1900f,-0.1425f,0.2677f,0.4803f,-0.8281f,0.0466f,0.1963f,-0.1386f,0.2283f,0.6614f,-0.7109f,0.0453f,0.1995f,-0.1348f,0.1024f,0.9291f,-0.3359f,0.0444f,0.1995f,-0.1320f,-0.1641f,0.8268f,0.5197f,0.0440f,0.1963f,-0.1311f,-0.3047f,0.0000f,0.9449f,0.0447f,0.1900f,-0.1330f,-0.2891f,-0.2969f,0.9055f,0.0638f,0.0400f,0.1900f,0.3071f,-0.0469f,0.9449f,0.0629f,0.0678f,0.1873f,0.2992f,0.1732f,0.9291f,0.0000f,0.0678f,0.1972f,0.0000f,0.1732f,0.9843f,0.0000f,0.0400f,0.2000f,0.0000f,-0.0469f,0.9921f,0.0605f,0.0971f,0.1801f,0.2913f,0.2913f,0.9055f,0.0000f,0.0971f,0.1896f,0.0000f,0.2913f,0.9528f,0.0569f,0.1275f,0.1694f,0.2835f,0.3701f,0.8819f,0.0000f,0.1275f,0.1784f,0.0000f,0.3701f,0.9213f,0.0526f,0.1586f,0.1565f,0.2756f,0.4094f,0.8583f,0.0000f,0.1586f,0.1648f,0.0000f,0.4094f,0.9055f,0.1188f,0.0400f,0.1619f,0.5827f,-0.0469f,0.8031f,0.1171f,0.0678f,0.1596f,0.5748f,0.1732f,0.7953f,0.1126f,0.0971f,0.1534f,0.5591f,0.2913f,0.7717f,0.1060f,0.1275f,0.1444f,0.5433f,0.3701f,0.7480f,0.0979f,0.1586f,0.1334f,0.5276f,0.4094f,0.7323f,0.1619f,0.0400f,0.1188f,0.8031f,-0.0469f,0.5827f,0.1596f,0.0678f,0.1171f,0.7953f,0.1732f,0.5748f,0.1534f,0.0971f,0.1126f,0.7717f,0.2913f,0.5591f,0.1444f,0.1275f,0.1060f,0.7480f,0.3701f,0.5433f,0.1334f,0.1586f,0.0979f,0.7323f,0.4094f,0.5276f,0.1900f,0.0400f,0.0638f,0.9449f,-0.0469f,0.3071f,0.1873f,0.0678f,0.0629f,0.9291f,0.1732f,0.2992f,0.1801f,0.0971f,0.0605f,0.9055f,0.2913f,0.2913f,0.1694f,0.1275f,0.0569f,0.8819f,0.3701f,0.2835f,0.1565f,0.1586f,0.0526f,0.8583f,0.4094f,0.2756f,0.2000f,0.0400f,0.0000f,0.9921f,-0.0469f,0.0000f,0.1972f,0.0678f,0.0000f,0.9843f,0.1732f,0.0000f,0.1896f,0.0971f,0.0000f,0.9528f,0.2913f,0.0000f,0.1784f,0.1275f,0.0000f,0.9213f,0.3701f,0.0000f,0.1648f,0.1586f,0.0000f,0.9055f,0.4094f,0.0000f,-0.1900f,0.0400f,0.0638f,-0.9453f,-0.0469f,0.3071f,-0.1873f,0.0678f,0.0629f,-0.9297f,0.1732f,0.2992f,-0.1972f,0.0678f,0.0000f,-0.9844f,0.1732f,0.0000f,-0.2000f,0.0400f,0.0000f,-0.8516f,0.5197f,0.0000f,-0.1801f,0.0971f,0.0605f,-0.9063f,0.2913f,0.2913f,-0.1896f,0.0971f,0.0000f,-0.9531f,0.2913f,0.0000f,-0.1694f,0.1275f,0.0569f,-0.8750f,0.3701f,0.2835f,-0.1784f,0.1275f,0.0000f,-0.9219f,0.3701f,0.0000f,-0.1565f,0.1586f,0.0526f,-0.8594f,0.4094f,0.2756f,-0.1648f,0.1586f,0.0000f,-0.9063f,0.4094f,0.0000f,-0.1619f,0.0400f,0.1188f,-0.8047f,-0.0469f,0.5827f,-0.1596f,0.0678f,0.1171f,-0.7891f,0.1732f,0.5748f,-0.1534f,0.0971f,0.1126f,-0.7656f,0.2913f,0.5591f,-0.1444f,0.1275f,0.1060f,-0.7500f,0.3701f,0.5433f,-0.1334f,0.1586f,0.0979f,-0.7344f,0.4094f,0.5276f,-0.1188f,0.0400f,0.1619f,-0.5859f,-0.0469f,0.8031f,-0.1171f,0.0678f,0.1596f,-0.5781f,0.1732f,0.7953f,-0.1126f,0.0971f,0.1534f,-0.5547f,0.2913f,0.7717f,-0.1060f,0.1275f,0.1444f,-0.5391f,0.3701f,0.7480f,-0.0979f,0.1586f,0.1334f,-0.5313f,0.4094f,0.7323f,-0.0638f,0.0400f,0.1900f,-0.3047f,-0.0469f,0.9449f,-0.0629f,0.0678f,0.1873f,-0.2969f,0.1732f,0.9291f,-0.0605f,0.0971f,0.1801f,-0.2891f,0.2913f,0.9055f,-0.0569f,0.1275f,0.1694f,-0.2813f,0.3701f,0.8819f,-0.0526f,0.1586f,0.1565f,-0.2813f,0.4094f,0.8583f,-0.0638f,0.0400f,-0.1900f,-0.3047f,-0.0469f,-0.9453f,-0.0629f,0.0678f,-0.1873f,-0.2969f,0.1732f,-0.9297f,0.0000f,0.0678f,-0.1972f,0.0000f,0.1732f,-0.9844f,0.0000f,0.0400f,-0.2000f,0.0000f,-0.0469f,-0.9922f,-0.0605f,0.0971f,-0.1801f,-0.2891f,0.2913f,-0.9063f,0.0000f,0.0971f,-0.1896f,0.0000f,0.2913f,-0.9531f,-0.0569f,0.1275f,-0.1694f,-0.2813f,0.3701f,-0.8750f,0.0000f,0.1275f,-0.1784f,0.0000f,0.3701f,-0.9219f,-0.0526f,0.1586f,-0.1565f,-0.2813f,0.4094f,-0.8594f,0.0000f,0.1586f,-0.1648f,0.0000f,0.4094f,-0.9063f,-0.1188f,0.0400f,-0.1619f,-0.5859f,-0.0469f,-0.8047f,-0.1171f,0.0678f,-0.1596f,-0.5781f,0.1732f,-0.7891f,-0.1126f,0.0971f,-0.1534f,-0.5547f,0.2913f,-0.7656f,-0.1060f,0.1275f,-0.1444f,-0.5391f,0.3701f,-0.7500f,-0.0979f,0.1586f,-0.1334f,-0.5313f,0.4094f,-0.7344f,-0.1619f,0.0400f,-0.1188f,-0.8047f,-0.0469f,-0.5859f,-0.1596f,0.0678f,-0.1171f,-0.7891f,0.1732f,-0.5781f,-0.1534f,0.0971f,-0.1126f,-0.7656f,0.2913f,-0.5547f,-0.1444f,0.1275f,-0.1060f,-0.7500f,0.3701f,-0.5391f,-0.1334f,0.1586f,-0.0979f,-0.7344f,0.4094f,-0.5313f,-0.1900f,0.0400f,-0.0638f,-0.9453f,-0.0469f,-0.3047f,-0.1873f,0.0678f,-0.0629f,-0.9297f,0.1732f,-0.2969f,-0.1801f,0.0971f,-0.0605f,-0.9063f,0.2913f,-0.2891f,-0.1694f,0.1275f,-0.0569f,-0.8750f,0.3701f,-0.2813f,-0.1565f,0.1586f,-0.0526f,-0.8594f,0.4094f,-0.2813f,0.1900f,0.0400f,-0.0638f,0.9449f,-0.0469f,-0.3047f,0.1873f,0.0678f,-0.0629f,0.9291f,0.1732f,-0.2969f,0.1801f,0.0971f,-0.0605f,0.9055f,0.2913f,-0.2891f,0.1694f,0.1275f,-0.0569f,0.8819f,0.3701f,-0.2813f,0.1565f,0.1586f,-0.0526f,0.8583f,0.4094f,-0.2813f,0.1619f,0.0400f,-0.1188f,0.8031f,-0.0469f,-0.5859f,0.1596f,0.0678f,-0.1171f,0.7953f,0.1732f,-0.5781f,0.1534f,0.0971f,-0.1126f,0.7717f,0.2913f,-0.5547f,0.1444f,0.1275f,-0.1060f,0.7480f,0.3701f,-0.5391f,0.1334f,0.1586f,-0.0979f,0.7323f,0.4094f,-0.5313f,0.1188f,0.0400f,-0.1619f,0.5827f,-0.0469f,-0.8047f,0.1171f,0.0678f,-0.1596f,0.5748f,0.1732f,-0.7891f,0.1126f,0.0971f,-0.1534f,0.5591f,0.2913f,-0.7656f,0.1060f,0.1275f,-0.1444f,0.5433f,0.3701f,-0.7500f,0.0979f,0.1586f,-0.1334f,0.5276f,0.4094f,-0.7344f,0.0638f,0.0400f,-0.1900f,0.3071f,-0.0469f,-0.9453f,0.0629f,0.0678f,-0.1873f,0.2992f,0.1732f,-0.9297f,0.0605f,0.0971f,-0.1801f,0.2913f,0.2913f,-0.9063f,0.0569f,0.1275f,-0.1694f,0.2835f,0.3701f,-0.8750f,0.0526f,0.1586f,-0.1565f,0.2756f,0.4094f,-0.8594f,0.0479f,-0.0350f,0.1425f,0.2362f,-0.6328f,0.7323f,0.0495f,-0.0286f,0.1474f,0.2126f,-0.7031f,0.6693f,0.0000f,-0.0286f,0.1552f,0.0000f,-0.7031f,0.7008f,0.0000f,-0.0350f,0.1500f,0.0000f,-0.5234f,0.8504f,0.0535f,-0.0183f,0.1592f,0.2047f,-0.7344f,0.6378f,0.0000f,-0.0183f,0.1676f,0.0000f,-0.7344f,0.6693f,0.0582f,-0.0037f,0.1732f,0.2362f,-0.6172f,0.7402f,0.0000f,-0.0037f,0.1824f,0.0000f,-0.6172f,0.7795f,0.0621f,0.0156f,0.1850f,0.2835f,-0.3750f,0.8740f,0.0000f,0.0156f,0.1948f,0.0000f,-0.3672f,0.9213f,0.0891f,-0.0350f,0.1214f,0.4961f,-0.5234f,0.6850f,0.0922f,-0.0286f,0.1256f,0.4094f,-0.7031f,0.5669f,0.0995f,-0.0183f,0.1356f,0.3937f,-0.7344f,0.5433f,0.1083f,-0.0037f,0.1476f,0.4567f,-0.6250f,0.6299f,0.1157f,0.0156f,0.1576f,0.5433f,-0.3750f,0.7480f,0.1214f,-0.0350f,0.0891f,0.6850f,-0.5234f,0.4961f,0.1256f,-0.0286f,0.0922f,0.5669f,-0.7031f,0.4094f,0.1356f,-0.0183f,0.0995f,0.5433f,-0.7344f,0.3937f,0.1476f,-0.0037f,0.1083f,0.6299f,-0.6250f,0.4567f,0.1576f,0.0156f,0.1157f,0.7480f,-0.3750f,0.5433f,0.1425f,-0.0350f,0.0479f,0.7323f,-0.6328f,0.2362f,0.1474f,-0.0286f,0.0495f,0.6693f,-0.7031f,0.2126f,0.1592f,-0.0183f,0.0535f,0.6378f,-0.7344f,0.2047f,0.1732f,-0.0037f,0.0582f,0.7402f,-0.6172f,0.2362f,0.1850f,0.0156f,0.0621f,0.8740f,-0.3750f,0.2835f,0.1500f,-0.0350f,0.0000f,0.8504f,-0.5234f,0.0000f,0.1552f,-0.0286f,0.0000f,0.7008f,-0.7031f,0.0000f,0.1676f,-0.0183f,0.0000f,0.6693f,-0.7344f,0.0000f,0.1824f,-0.0037f,0.0000f,0.7795f,-0.6172f,0.0000f,0.1948f,0.0156f,0.0000f,0.9213f,-0.3672f,0.0000f,-0.1425f,-0.0350f,0.0479f,-0.7344f,-0.6328f,0.2362f,-0.1474f,-0.0286f,0.0495f,-0.6641f,-0.7031f,0.2126f,-0.1552f,-0.0286f,0.0000f,-0.7031f,-0.7031f,0.0000f,-0.1500f,-0.0350f,0.0000f,-0.8438f,-0.5234f,0.0000f,-0.1592f,-0.0183f,0.0535f,-0.6406f,-0.7344f,0.2047f,-0.1676f,-0.0183f,0.0000f,-0.6719f,-0.7344f,0.0000f,-0.1732f,-0.0037f,0.0582f,-0.7422f,-0.6172f,0.2362f,-0.1824f,-0.0037f,0.0000f,-0.7813f,-0.6172f,0.0000f,-0.1850f,0.0156f,0.0621f,-0.8750f,-0.3750f,0.2835f,-0.1948f,0.0156f,0.0000f,-0.9219f,-0.3672f,0.0000f,-0.1214f,-0.0350f,0.0891f,-0.6797f,-0.5234f,0.4961f,-0.1256f,-0.0286f,0.0922f,-0.5625f,-0.7031f,0.4094f,-0.1356f,-0.0183f,0.0995f,-0.5391f,-0.7344f,0.3937f,-0.1476f,-0.0037f,0.1083f,-0.6250f,-0.6250f,0.4567f,-0.1576f,0.0156f,0.1157f,-0.7422f,-0.3750f,0.5433f,-0.0891f,-0.0350f,0.1214f,-0.4922f,-0.5234f,0.6850f,-0.0922f,-0.0286f,0.1256f,-0.4141f,-0.7031f,0.5669f,-0.0995f,-0.0183f,0.1356f,-0.3906f,-0.7344f,0.5433f,-0.1083f,-0.0037f,0.1476f,-0.4531f,-0.6250f,0.6299f,-0.1157f,0.0156f,0.1576f,-0.5391f,-0.3750f,0.7480f,-0.0479f,-0.0350f,0.1425f,-0.2344f,-0.6328f,0.7323f,-0.0495f,-0.0286f,0.1474f,-0.2109f,-0.7031f,0.6693f,-0.0535f,-0.0183f,0.1592f,-0.2031f,-0.7344f,0.6378f,-0.0582f,-0.0037f,0.1732f,-0.2344f,-0.6172f,0.7402f,-0.0621f,0.0156f,0.1850f,-0.2813f,-0.3750f,0.8740f,-0.0479f,-0.0350f,-0.1425f,-0.2344f,-0.6328f,-0.7344f,-0.0495f,-0.0286f,-0.1474f,-0.2109f,-0.7031f,-0.6641f,0.0000f,-0.0286f,-0.1552f,0.0000f,-0.7031f,-0.7031f,0.0000f,-0.0350f,-0.1500f,0.0000f,-0.5234f,-0.8438f,-0.0535f,-0.0183f,-0.1592f,-0.2031f,-0.7344f,-0.6406f,0.0000f,-0.0183f,-0.1676f,0.0000f,-0.7344f,-0.6719f,-0.0582f,-0.0037f,-0.1732f,-0.2344f,-0.6172f,-0.7422f,0.0000f,-0.0037f,-0.1824f,0.0000f,-0.6172f,-0.7813f,-0.0621f,0.0156f,-0.1850f,-0.2813f,-0.3750f,-0.8750f,0.0000f,0.0156f,-0.1948f,0.0000f,-0.3672f,-0.9219f,-0.0891f,-0.0350f,-0.1214f,-0.4922f,-0.5234f,-0.6797f,-0.0922f,-0.0286f,-0.1256f,-0.4141f,-0.7031f,-0.5625f,-0.0995f,-0.0183f,-0.1356f,-0.3906f,-0.7344f,-0.5391f,-0.1083f,-0.0037f,-0.1476f,-0.4531f,-0.6250f,-0.6250f,-0.1157f,0.0156f,-0.1576f,-0.5391f,-0.3750f,-0.7422f,-0.1214f,-0.0350f,-0.0891f,-0.6797f,-0.5234f,-0.4922f,-0.1256f,-0.0286f,-0.0922f,-0.5625f,-0.7031f,-0.4141f,-0.1356f,-0.0183f,-0.0995f,-0.5391f,-0.7344f,-0.3906f,-0.1476f,-0.0037f,-0.1083f,-0.6250f,-0.6250f,-0.4531f,-0.1576f,0.0156f,-0.1157f,-0.7422f,-0.3750f,-0.5391f,-0.1425f,-0.0350f,-0.0479f,-0.7344f,-0.6328f,-0.2344f,-0.1474f,-0.0286f,-0.0495f,-0.6641f,-0.7031f,-0.2109f,-0.1592f,-0.0183f,-0.0535f,-0.6406f,-0.7344f,-0.2031f,-0.1732f,-0.0037f,-0.0582f,-0.7422f,-0.6172f,-0.2344f,-0.1850f,0.0156f,-0.0621f,-0.8750f,-0.3750f,-0.2813f,0.1425f,-0.0350f,-0.0479f,0.7323f,-0.6328f,-0.2344f,0.1474f,-0.0286f,-0.0495f,0.6693f,-0.7031f,-0.2109f,0.1592f,-0.0183f,-0.0535f,0.6378f,-0.7344f,-0.2031f,0.1732f,-0.0037f,-0.0582f,0.7402f,-0.6172f,-0.2344f,0.1850f,0.0156f,-0.0621f,0.8740f,-0.3750f,-0.2813f,0.1214f,-0.0350f,-0.0891f,0.6850f,-0.5234f,-0.4922f,0.1256f,-0.0286f,-0.0922f,0.5669f,-0.7031f,-0.4141f,0.1356f,-0.0183f,-0.0995f,0.5433f,-0.7344f,-0.3906f,0.1476f,-0.0037f,-0.1083f,0.6299f,-0.6250f,-0.4531f,0.1576f,0.0156f,-0.1157f,0.7480f,-0.3750f,-0.5391f,0.0891f,-0.0350f,-0.1214f,0.4961f,-0.5234f,-0.6797f,0.0922f,-0.0286f,-0.1256f,0.4094f,-0.7031f,-0.5625f,0.0995f,-0.0183f,-0.1356f,0.3937f,-0.7344f,-0.5391f,0.1083f,-0.0037f,-0.1476f,0.4567f,-0.6250f,-0.6250f,0.1157f,0.0156f,-0.1576f,0.5433f,-0.3750f,-0.7422f,0.0479f,-0.0350f,-0.1425f,0.2362f,-0.6328f,-0.7344f,0.0495f,-0.0286f,-0.1474f,0.2126f,-0.7031f,-0.6641f,0.0535f,-0.0183f,-0.1592f,0.2047f,-0.7344f,-0.6406f,0.0582f,-0.0037f,-0.1732f,0.2362f,-0.6172f,-0.7422f,0.0621f,0.0156f,-0.1850f,0.2835f,-0.3750f,-0.8750f,0.0479f,-0.0350f,-0.1425f,0.2835f,-0.3906f,-0.8672f,0.0472f,-0.0394f,-0.1406f,0.2205f,-0.6875f,-0.6797f,0.0000f,-0.0394f,-0.1481f,0.0000f,-0.6875f,-0.7188f,0.0441f,-0.0435f,-0.1313f,0.0787f,-0.9609f,-0.2578f,0.0000f,-0.0435f,-0.1382f,0.0000f,-0.9609f,-0.2734f,0.0365f,-0.0469f,-0.1086f,0.0236f,-0.9922f,-0.0938f,0.0000f,-0.0469f,-0.1144f,0.0000f,-0.9922f,-0.0938f,0.0224f,-0.0492f,-0.0668f,0.0079f,-0.9922f,-0.0313f,0.0000f,-0.0492f,-0.0703f,0.0000f,-0.9922f,-0.0313f,0.0000f,-0.0500f,0.0000f,0.0000f,-1.0000f,0.0000f,0.0879f,-0.0394f,-0.1198f,0.4173f,-0.6875f,-0.5781f,0.0821f,-0.0435f,-0.1119f,0.1575f,-0.9609f,-0.2188f,0.0679f,-0.0469f,-0.0925f,0.0551f,-0.9922f,-0.0781f,0.0418f,-0.0492f,-0.0569f,0.0157f,-0.9922f,-0.0234f,0.1198f,-0.0394f,-0.0879f,0.5748f,-0.6875f,-0.4219f,0.1119f,-0.0435f,-0.0821f,0.2205f,-0.9609f,-0.1563f,0.0925f,-0.0469f,-0.0679f,0.0787f,-0.9922f,-0.0547f,0.0569f,-0.0492f,-0.0418f,0.0236f,-0.9922f,-0.0156f,0.1425f,-0.0350f,-0.0479f,0.8661f,-0.3906f,-0.2813f,0.1406f,-0.0394f,-0.0472f,0.6772f,-0.6875f,-0.2188f,0.1313f,-0.0435f,-0.0441f,0.2598f,-0.9609f,-0.0781f,0.1086f,-0.0469f,-0.0365f,0.0945f,-0.9922f,-0.0234f,0.0668f,-0.0492f,-0.0224f,0.0315f,-0.9922f,-0.0078f,0.1481f,-0.0394f,0.0000f,0.7165f,-0.6875f,0.0000f,0.1382f,-0.0435f,0.0000f,0.2677f,-0.9609f,0.0000f,0.1144f,-0.0469f,0.0000f,0.0945f,-0.9922f,0.0000f,0.0703f,-0.0492f,0.0000f,0.0315f,-0.9922f,0.0000f,-0.1425f,-0.0350f,-0.0479f,-0.8672f,-0.3906f,-0.2813f,-0.1406f,-0.0394f,-0.0472f,-0.6797f,-0.6875f,-0.2188f,-0.1481f,-0.0394f,0.0000f,-0.7188f,-0.6875f,0.0000f,-0.1313f,-0.0435f,-0.0441f,-0.2578f,-0.9609f,-0.0781f,-0.1382f,-0.0435f,0.0000f,-0.2734f,-0.9609f,0.0000f,-0.1086f,-0.0469f,-0.0365f,-0.0938f,-0.9922f,-0.0234f,-0.1144f,-0.0469f,0.0000f,-0.0938f,-0.9922f,0.0000f,-0.0668f,-0.0492f,-0.0224f,-0.0313f,-0.9922f,-0.0078f,-0.0703f,-0.0492f,0.0000f,-0.0313f,-0.9922f,0.0000f,-0.1198f,-0.0394f,-0.0879f,-0.5781f,-0.6875f,-0.4219f,-0.1119f,-0.0435f,-0.0821f,-0.2188f,-0.9609f,-0.1563f,-0.0925f,-0.0469f,-0.0679f,-0.0781f,-0.9922f,-0.0547f,-0.0569f,-0.0492f,-0.0418f,-0.0234f,-0.9922f,-0.0156f,-0.0879f,-0.0394f,-0.1198f,-0.4219f,-0.6875f,-0.5781f,-0.0821f,-0.0435f,-0.1119f,-0.1563f,-0.9609f,-0.2188f,-0.0679f,-0.0469f,-0.0925f,-0.0547f,-0.9922f,-0.0781f,-0.0418f,-0.0492f,-0.0569f,-0.0156f,-0.9922f,-0.0234f,-0.0479f,-0.0350f,-0.1425f,-0.2813f,-0.3906f,-0.8672f,-0.0472f,-0.0394f,-0.1406f,-0.2188f,-0.6875f,-0.6797f,-0.0441f,-0.0435f,-0.1313f,-0.0781f,-0.9609f,-0.2578f,-0.0365f,-0.0469f,-0.1086f,-0.0234f,-0.9922f,-0.0938f,-0.0224f,-0.0492f,-0.0668f,-0.0078f,-0.9922f,-0.0313f,-0.0479f,-0.0350f,0.1425f,-0.2813f,-0.3906f,0.8661f,-0.0472f,-0.0394f,0.1406f,-0.2188f,-0.6875f,0.6772f,0.0000f,-0.0394f,0.1481f,0.0000f,-0.6875f,0.7165f,-0.0441f,-0.0435f,0.1313f,-0.0781f,-0.9609f,0.2598f,0.0000f,-0.0435f,0.1382f,0.0000f,-0.9609f,0.2677f,-0.0365f,-0.0469f,0.1086f,-0.0234f,-0.9922f,0.0945f,0.0000f,-0.0469f,0.1144f,0.0000f,-0.9922f,0.0945f,-0.0224f,-0.0492f,0.0668f,-0.0078f,-0.9922f,0.0315f,0.0000f,-0.0492f,0.0703f,0.0000f,-0.9922f,0.0315f,-0.0879f,-0.0394f,0.1198f,-0.4219f,-0.6875f,0.5748f,-0.0821f,-0.0435f,0.1119f,-0.1563f,-0.9609f,0.2205f,-0.0679f,-0.0469f,0.0925f,-0.0547f,-0.9922f,0.0787f,-0.0418f,-0.0492f,0.0569f,-0.0156f,-0.9922f,0.0236f,-0.1198f,-0.0394f,0.0879f,-0.5781f,-0.6875f,0.4173f,-0.1119f,-0.0435f,0.0821f,-0.2188f,-0.9609f,0.1575f,-0.0925f,-0.0469f,0.0679f,-0.0781f,-0.9922f,0.0551f,-0.0569f,-0.0492f,0.0418f,-0.0234f,-0.9922f,0.0157f,-0.1425f,-0.0350f,0.0479f,-0.8672f,-0.3906f,0.2835f,-0.1406f,-0.0394f,0.0472f,-0.6797f,-0.6875f,0.2205f,-0.1313f,-0.0435f,0.0441f,-0.2578f,-0.9609f,0.0787f,-0.1086f,-0.0469f,0.0365f,-0.0938f,-0.9922f,0.0236f,-0.0668f,-0.0492f,0.0224f,-0.0313f,-0.9922f,0.0079f,0.1425f,-0.0350f,0.0479f,0.8661f,-0.3906f,0.2835f,0.1406f,-0.0394f,0.0472f,0.6772f,-0.6875f,0.2205f,0.1313f,-0.0435f,0.0441f,0.2598f,-0.9609f,0.0787f,0.1086f,-0.0469f,0.0365f,0.0945f,-0.9922f,0.0236f,0.0668f,-0.0492f,0.0224f,0.0315f,-0.9922f,0.0079f,0.1198f,-0.0394f,0.0879f,0.5748f,-0.6875f,0.4173f,0.1119f,-0.0435f,0.0821f,0.2205f,-0.9609f,0.1575f,0.0925f,-0.0469f,0.0679f,0.0787f,-0.9922f,0.0551f,0.0569f,-0.0492f,0.0418f,0.0236f,-0.9922f,0.0157f,0.0879f,-0.0394f,0.1198f,0.4173f,-0.6875f,0.5748f,0.0821f,-0.0435f,0.1119f,0.1575f,-0.9609f,0.2205f,0.0679f,-0.0469f,0.0925f,0.0551f,-0.9922f,0.0787f,0.0418f,-0.0492f,0.0569f,0.0157f,-0.9922f,0.0236f,0.0479f,-0.0350f,0.1425f,0.2835f,-0.3906f,0.8661f,0.0472f,-0.0394f,0.1406f,0.2205f,-0.6875f,0.6772f,0.0441f,-0.0435f,0.1313f,0.0787f,-0.9609f,0.2598f,0.0365f,-0.0469f,0.1086f,0.0236f,-0.9922f,0.0945f,0.0224f,-0.0492f,0.0668f,0.0079f,-0.9922f,0.0315f,-0.2969f,0.1300f,0.0144f,-0.8750f,0.0472f,0.4724f,-0.2910f,0.1508f,0.0144f,-0.7266f,0.5039f,0.4567f,-0.2940f,0.1520f,0.0000f,-0.8203f,0.5591f,0.0000f,-0.3000f,0.1300f,0.0000f,-0.9922f,0.0472f,0.0000f,-0.2734f,0.1634f,0.0144f,-0.3750f,0.8189f,0.4252f,-0.2760f,0.1653f,0.0000f,-0.4219f,0.8976f,0.0000f,-0.2442f,0.1699f,0.0144f,-0.1250f,0.9055f,0.3937f,-0.2460f,0.1721f,0.0000f,-0.1406f,0.9843f,0.0000f,-0.2034f,0.1723f,0.0144f,-0.0234f,0.9134f,0.3937f,-0.2040f,0.1746f,0.0000f,-0.0313f,0.9921f,0.0000f,-0.1510f,0.1727f,0.0144f,0.0000f,0.9213f,0.3701f,-0.1500f,0.1750f,0.0000f,0.0000f,1.0000f,0.0000f,-0.2894f,0.1300f,0.0216f,-0.4141f,0.0236f,0.9055f,-0.2839f,0.1481f,0.0216f,-0.3438f,0.2677f,0.8898f,-0.2674f,0.1591f,0.0216f,-0.1563f,0.4252f,0.8898f,-0.2400f,0.1647f,0.0216f,-0.0469f,0.4488f,0.8898f,-0.2020f,0.1668f,0.0216f,-0.0078f,0.4409f,0.8898f,-0.1535f,0.1671f,0.0216f,0.0000f,0.5354f,0.8346f,-0.2806f,0.1300f,0.0216f,0.3150f,-0.0234f,0.9449f,-0.2754f,0.1448f,0.0216f,0.2362f,-0.1797f,0.9528f,-0.2601f,0.1538f,0.0216f,0.1339f,-0.3516f,0.9213f,-0.2350f,0.1585f,0.0216f,0.0472f,-0.4141f,0.8976f,-0.2003f,0.1602f,0.0216f,0.0079f,-0.4297f,0.8976f,-0.1565f,0.1604f,0.0216f,0.0000f,-0.3438f,0.9370f,-0.2731f,0.1300f,0.0144f,0.8504f,-0.0938f,0.5118f,-0.2683f,0.1421f,0.0144f,0.6299f,-0.5859f,0.4961f,-0.2540f,0.1495f,0.0144f,0.2677f,-0.8594f,0.4252f,-0.2307f,0.1532f,0.0144f,0.0866f,-0.9063f,0.3937f,-0.1989f,0.1546f,0.0144f,0.0157f,-0.9141f,0.3937f,-0.1590f,0.1548f,0.0144f,0.0000f,-0.9063f,0.4173f,-0.2700f,0.1300f,0.0000f,0.9921f,-0.1172f,0.0000f,-0.2653f,0.1410f,0.0000f,0.7165f,-0.6953f,0.0000f,-0.2514f,0.1476f,0.0000f,0.2913f,-0.9531f,0.0000f,-0.2290f,0.1511f,0.0000f,0.0945f,-0.9922f,0.0000f,-0.1983f,0.1523f,0.0000f,0.0157f,-0.9922f,0.0000f,-0.1600f,0.1525f,0.0000f,0.0000f,-1.0000f,0.0000f,-0.2731f,0.1300f,-0.0144f,0.8504f,-0.0938f,-0.5078f,-0.2683f,0.1421f,-0.0144f,0.6299f,-0.5859f,-0.5000f,-0.2540f,0.1495f,-0.0144f,0.2677f,-0.8594f,-0.4219f,-0.2307f,0.1532f,-0.0144f,0.0866f,-0.9063f,-0.3984f,-0.1989f,0.1546f,-0.0144f,0.0157f,-0.9141f,-0.3906f,-0.1590f,0.1548f,-0.0144f,0.0000f,-0.9063f,-0.4141f,-0.2806f,0.1300f,-0.0216f,0.3150f,-0.0234f,-0.9453f,-0.2754f,0.1448f,-0.0216f,0.2362f,-0.1797f,-0.9531f,-0.2601f,0.1538f,-0.0216f,0.1339f,-0.3516f,-0.9219f,-0.2350f,0.1585f,-0.0216f,0.0472f,-0.4141f,-0.8984f,-0.2003f,0.1602f,-0.0216f,0.0079f,-0.4297f,-0.8984f,-0.1565f,0.1604f,-0.0216f,0.0000f,-0.3438f,-0.9375f,-0.2894f,0.1300f,-0.0216f,-0.4141f,0.0236f,-0.9063f,-0.2839f,0.1481f,-0.0216f,-0.3438f,0.2677f,-0.8906f,-0.2674f,0.1591f,-0.0216f,-0.1563f,0.4252f,-0.8828f,-0.2400f,0.1647f,-0.0216f,-0.0469f,0.4488f,-0.8906f,-0.2020f,0.1668f,-0.0216f,-0.0078f,0.4409f,-0.8906f,-0.1535f,0.1671f,-0.0216f,0.0000f,0.5354f,-0.8359f,-0.2969f,0.1300f,-0.0144f,-0.8750f,0.0472f,-0.4688f,-0.2910f,0.1508f,-0.0144f,-0.7266f,0.5039f,-0.4609f,-0.2734f,0.1634f,-0.0144f,-0.3750f,0.8189f,-0.4219f,-0.2442f,0.1699f,-0.0144f,-0.1250f,0.9055f,-0.3984f,-0.2034f,0.1723f,-0.0144f,-0.0234f,0.9134f,-0.3906f,-0.1510f,0.1727f,-0.0144f,0.0000f,0.9213f,-0.3672f,-0.1910f,0.0131f,0.0144f,-0.4375f,-0.8281f,0.3307f,-0.2298f,0.0337f,0.0144f,-0.4844f,-0.7656f,0.4016f,-0.2302f,0.0311f,0.0000f,-0.5234f,-0.8438f,0.0000f,-0.1900f,0.0100f,0.0000f,-0.4609f,-0.8828f,0.0000f,-0.2596f,0.0560f,0.0144f,-0.6094f,-0.6563f,0.4252f,-0.2611f,0.0539f,0.0000f,-0.6719f,-0.7344f,0.0000f,-0.2805f,0.0798f,0.0144f,-0.7344f,-0.4922f,0.4567f,-0.2829f,0.0780f,0.0000f,-0.8203f,-0.5547f,0.0000f,-0.2928f,0.1046f,0.0144f,-0.8359f,-0.2656f,0.4646f,-0.2958f,0.1035f,0.0000f,-0.9453f,-0.3047f,0.0000f,-0.1935f,0.0206f,0.0216f,-0.2969f,-0.5547f,0.7717f,-0.2289f,0.0398f,0.0216f,-0.2500f,-0.3672f,0.8898f,-0.2559f,0.0613f,0.0216f,-0.2969f,-0.3125f,0.8976f,-0.2747f,0.0840f,0.0216f,-0.3438f,-0.2266f,0.9055f,-0.2858f,0.1072f,0.0216f,-0.3828f,-0.1172f,0.9134f,-0.1965f,0.0294f,0.0216f,0.1260f,0.2126f,0.9606f,-0.2278f,0.0471f,0.0216f,0.2283f,0.3386f,0.9055f,-0.2515f,0.0675f,0.0216f,0.2835f,0.2677f,0.9134f,-0.2679f,0.0891f,0.0216f,0.3150f,0.1811f,0.9291f,-0.2775f,0.1104f,0.0216f,0.3307f,0.0945f,0.9291f,-0.1990f,0.0369f,0.0144f,0.4488f,0.7717f,0.4409f,-0.2269f,0.0533f,0.0144f,0.5433f,0.7244f,0.4094f,-0.2478f,0.0727f,0.0144f,0.6693f,0.5906f,0.4331f,-0.2622f,0.0933f,0.0144f,0.7638f,0.4252f,0.4724f,-0.2705f,0.1130f,0.0144f,0.8346f,0.2362f,0.4882f,-0.2265f,0.0558f,0.0000f,0.6063f,0.7874f,0.0000f,-0.2462f,0.0749f,0.0000f,0.7559f,0.6457f,0.0000f,-0.2598f,0.0951f,0.0000f,0.8740f,0.4724f,0.0000f,-0.2675f,0.1142f,0.0000f,0.9606f,0.2677f,0.0000f,-0.1990f,0.0369f,-0.0144f,0.4488f,0.7717f,-0.4375f,-0.2269f,0.0533f,-0.0144f,0.5433f,0.7244f,-0.4063f,-0.2478f,0.0727f,-0.0144f,0.6693f,0.5906f,-0.4375f,-0.2622f,0.0933f,-0.0144f,0.7638f,0.4252f,-0.4688f,-0.2705f,0.1130f,-0.0144f,0.8346f,0.2362f,-0.4844f,-0.1965f,0.0294f,-0.0216f,0.1260f,0.2126f,-0.9609f,-0.2278f,0.0471f,-0.0216f,0.2283f,0.3386f,-0.9063f,-0.2515f,0.0675f,-0.0216f,0.2835f,0.2677f,-0.9141f,-0.2679f,0.0891f,-0.0216f,0.3150f,0.1811f,-0.9297f,-0.2775f,0.1104f,-0.0216f,0.3307f,0.0945f,-0.9297f,-0.1935f,0.0206f,-0.0216f,-0.2969f,-0.5547f,-0.7734f,-0.2289f,0.0398f,-0.0216f,-0.2500f,-0.3672f,-0.8906f,-0.2559f,0.0613f,-0.0216f,-0.2969f,-0.3125f,-0.8984f,-0.2747f,0.0840f,-0.0216f,-0.3438f,-0.2266f,-0.9063f,-0.2858f,0.1072f,-0.0216f,-0.3828f,-0.1172f,-0.9063f,-0.1910f,0.0131f,-0.0144f,-0.4375f,-0.8281f,-0.3359f,-0.2298f,0.0337f,-0.0144f,-0.4844f,-0.7656f,-0.3984f,-0.2596f,0.0560f,-0.0144f,-0.6094f,-0.6563f,-0.4219f,-0.2805f,0.0798f,-0.0144f,-0.7344f,-0.4922f,-0.4531f,-0.2928f,0.1046f,-0.0144f,-0.8359f,-0.2656f,-0.4688f,0.3238f,0.1900f,0.0120f,0.4567f,-0.6719f,0.5748f,0.2881f,0.1600f,0.0140f,0.6772f,-0.4297f,0.5906f,0.2922f,0.1590f,0.0000f,0.8031f,-0.5938f,0.0000f,0.3300f,0.1900f,0.0000f,0.5118f,-0.8516f,0.0000f,0.2718f,0.1196f,0.0189f,0.8425f,-0.2344f,0.4646f,0.2751f,0.1169f,0.0000f,0.9370f,-0.3203f,0.0000f,0.2579f,0.0771f,0.0248f,0.8110f,-0.3828f,0.4331f,0.2609f,0.0723f,0.0000f,0.8819f,-0.4609f,0.0000f,0.2296f,0.0406f,0.0296f,0.5276f,-0.6797f,0.4882f,0.2318f,0.0338f,0.0000f,0.5906f,-0.8047f,0.0000f,0.1700f,0.0186f,0.0317f,0.3150f,-0.8047f,0.4961f,0.1700f,0.0100f,0.0000f,0.3543f,-0.9297f,0.0000f,0.3089f,0.1900f,0.0180f,0.1890f,-0.1016f,0.9685f,0.2784f,0.1623f,0.0211f,0.2835f,-0.0234f,0.9528f,0.2640f,0.1260f,0.0284f,0.4488f,0.0157f,0.8898f,0.2509f,0.0884f,0.0371f,0.5039f,-0.0859f,0.8504f,0.2245f,0.0570f,0.0444f,0.3228f,-0.2813f,0.8976f,0.1700f,0.0390f,0.0475f,0.1732f,-0.3672f,0.9055f,0.2911f,0.1900f,0.0180f,-0.1719f,0.3780f,0.9055f,0.2667f,0.1651f,0.0211f,-0.2344f,0.3071f,0.9134f,0.2546f,0.1336f,0.0284f,-0.2266f,0.2992f,0.9213f,0.2425f,0.1020f,0.0371f,-0.0859f,0.3307f,0.9370f,0.2184f,0.0765f,0.0444f,-0.0078f,0.2992f,0.9528f,0.1700f,0.0635f,0.0475f,-0.0078f,0.2835f,0.9528f,0.2762f,0.1900f,0.0120f,-0.5078f,0.6535f,0.5512f,0.2570f,0.1674f,0.0140f,-0.6953f,0.4646f,0.5354f,0.2467f,0.1400f,0.0189f,-0.7578f,0.4016f,0.5039f,0.2355f,0.1134f,0.0248f,-0.6406f,0.5591f,0.5118f,0.2133f,0.0929f,0.0296f,-0.3281f,0.7559f,0.5512f,0.1700f,0.0839f,0.0317f,-0.1406f,0.8110f,0.5591f,0.2700f,0.1900f,0.0000f,-0.6719f,0.7323f,0.0000f,0.2529f,0.1683f,0.0000f,-0.8594f,0.5039f,0.0000f,0.2434f,0.1427f,0.0000f,-0.9141f,0.3858f,0.0000f,0.2326f,0.1182f,0.0000f,-0.8047f,0.5906f,0.0000f,0.2111f,0.0998f,0.0000f,-0.4375f,0.8976f,0.0000f,0.1700f,0.0925f,0.0000f,-0.1797f,0.9764f,0.0000f,0.2762f,0.1900f,-0.0120f,-0.5078f,0.6535f,-0.5469f,0.2570f,0.1674f,-0.0140f,-0.6953f,0.4646f,-0.5391f,0.2467f,0.1400f,-0.0189f,-0.7578f,0.4016f,-0.5000f,0.2355f,0.1134f,-0.0248f,-0.6406f,0.5591f,-0.5156f,0.2133f,0.0929f,-0.0296f,-0.3281f,0.7559f,-0.5547f,0.1700f,0.0839f,-0.0317f,-0.1406f,0.8110f,-0.5547f,0.2911f,0.1900f,-0.0180f,-0.1719f,0.3780f,-0.9063f,0.2667f,0.1651f,-0.0211f,-0.2344f,0.3071f,-0.9141f,0.2546f,0.1336f,-0.0284f,-0.2266f,0.2992f,-0.9219f,0.2425f,0.1020f,-0.0371f,-0.0859f,0.3307f,-0.9375f,0.2184f,0.0765f,-0.0444f,-0.0078f,0.2992f,-0.9531f,0.1700f,0.0635f,-0.0475f,-0.0078f,0.2835f,-0.9531f,0.3089f,0.1900f,-0.0180f,0.1890f,-0.1016f,-0.9688f,0.2784f,0.1623f,-0.0211f,0.2835f,-0.0234f,-0.9531f,0.2640f,0.1260f,-0.0284f,0.4488f,0.0157f,-0.8906f,0.2509f,0.0884f,-0.0371f,0.5039f,-0.0859f,-0.8516f,0.2245f,0.0570f,-0.0444f,0.3228f,-0.2813f,-0.8984f,0.1700f,0.0390f,-0.0475f,0.1732f,-0.3672f,-0.9063f,0.3238f,0.1900f,-0.0120f,0.4567f,-0.6719f,-0.5703f,0.2881f,0.1600f,-0.0140f,0.6772f,-0.4297f,-0.5859f,0.2718f,0.1196f,-0.0189f,0.8425f,-0.2344f,-0.4688f,0.2579f,0.0771f,-0.0248f,0.8110f,-0.3828f,-0.4297f,0.2296f,0.0406f,-0.0296f,0.5276f,-0.6797f,-0.4922f,0.1700f,0.0186f,-0.0317f,0.3150f,-0.8047f,-0.4922f,0.3158f,0.1900f,0.0072f,-0.2969f,0.7480f,-0.5781f,0.3277f,0.1951f,0.0077f,-0.2734f,0.8819f,-0.3672f,0.3328f,0.1952f,0.0000f,-0.3125f,0.9449f,0.0000f,0.3200f,0.1900f,0.0000f,-0.3750f,0.9213f,0.0000f,0.3349f,0.1973f,0.0089f,-0.0781f,0.9921f,-0.0313f,0.3408f,0.1976f,0.0000f,-0.0234f,0.9921f,0.0000f,0.3369f,0.1971f,0.0103f,0.6850f,0.3386f,0.6378f,0.3434f,0.1973f,0.0000f,0.9685f,0.2441f,0.0000f,0.3333f,0.1946f,0.0115f,0.4724f,-0.5000f,0.7165f,0.3400f,0.1947f,0.0000f,0.5591f,-0.8203f,0.0000f,0.3059f,0.1900f,0.0108f,-0.0469f,0.2677f,-0.9609f,0.3155f,0.1946f,0.0115f,-0.1328f,0.6614f,-0.7266f,0.3207f,0.1968f,0.0133f,-0.0859f,0.9685f,-0.2031f,0.3213f,0.1966f,0.0155f,0.1654f,0.7087f,0.6772f,0.3174f,0.1943f,0.0173f,0.1811f,0.0709f,0.9764f,0.2941f,0.1900f,0.0108f,0.2598f,-0.2266f,-0.9297f,0.3010f,0.1942f,0.0115f,0.1260f,0.3071f,-0.9375f,0.3038f,0.1962f,0.0133f,0.0000f,0.9213f,-0.3672f,0.3028f,0.1961f,0.0155f,-0.0469f,0.8976f,0.4252f,0.2984f,0.1940f,0.0173f,-0.1094f,0.5512f,0.8189f,0.2842f,0.1900f,0.0072f,0.5669f,-0.6172f,-0.5313f,0.2889f,0.1938f,0.0077f,0.5827f,-0.1563f,-0.7891f,0.2896f,0.1956f,0.0089f,0.2126f,0.8740f,-0.4219f,0.2872f,0.1956f,0.0103f,-0.1563f,0.9528f,0.2441f,0.2825f,0.1937f,0.0115f,-0.3359f,0.8031f,0.4724f,0.2800f,0.1900f,0.0000f,0.6693f,-0.7344f,0.0000f,0.2838f,0.1936f,0.0000f,0.8819f,-0.4609f,0.0000f,0.2837f,0.1954f,0.0000f,0.4961f,0.8583f,0.0000f,0.2807f,0.1954f,0.0000f,-0.2266f,0.9685f,0.0000f,0.2758f,0.1936f,0.0000f,-0.4453f,0.8898f,0.0000f,0.2842f,0.1900f,-0.0072f,0.5669f,-0.6172f,0.5354f,0.2889f,0.1938f,-0.0077f,0.5827f,-0.1563f,0.7874f,0.2896f,0.1956f,-0.0089f,0.2126f,0.8740f,0.4252f,0.2872f,0.1956f,-0.0103f,-0.1563f,0.9528f,-0.2422f,0.2825f,0.1937f,-0.0115f,-0.3359f,0.8031f,-0.4766f,0.2941f,0.1900f,-0.0108f,0.2598f,-0.2266f,0.9370f,0.3010f,0.1942f,-0.0115f,0.1260f,0.3071f,0.9370f,0.3038f,0.1962f,-0.0133f,0.0000f,0.9213f,0.3701f,0.3028f,0.1961f,-0.0155f,-0.0469f,0.8976f,-0.4297f,0.2984f,0.1940f,-0.0173f,-0.1094f,0.5512f,-0.8203f,0.3059f,0.1900f,-0.0108f,-0.0469f,0.2677f,0.9606f,0.3155f,0.1946f,-0.0115f,-0.1328f,0.6614f,0.7244f,0.3207f,0.1968f,-0.0133f,-0.0859f,0.9685f,0.2047f,0.3213f,0.1966f,-0.0155f,0.1654f,0.7087f,-0.6719f,0.3174f,0.1943f,-0.0173f,0.1811f,0.0709f,-0.9766f,0.3158f,0.1900f,-0.0072f,-0.2969f,0.7480f,0.5827f,0.3277f,0.1951f,-0.0077f,-0.2734f,0.8819f,0.3622f,0.3349f,0.1973f,-0.0089f,-0.0781f,0.9921f,0.0315f,0.3369f,0.1971f,-0.0103f,0.6850f,0.3386f,-0.6328f,0.3333f,0.1946f,-0.0115f,0.4724f,-0.5000f,-0.7109f,0.0064f,0.2200f,0.0190f,0.2283f,0.6614f,0.7008f,0.0057f,0.2304f,0.0170f,0.2913f,-0.2422f,0.9213f,0.0000f,0.2304f,0.0179f,0.0000f,-0.2422f,0.9685f,0.0000f,0.2200f,0.0200f,0.0000f,0.6614f,0.7402f,0.0088f,0.2423f,0.0260f,0.2362f,-0.6094f,0.7480f,0.0000f,0.2423f,0.0274f,0.0000f,-0.6094f,0.7874f,0.0115f,0.2535f,0.0340f,0.3071f,-0.0469f,0.9449f,0.0000f,0.2535f,0.0358f,0.0000f,-0.0469f,0.9921f,0.0099f,0.2618f,0.0293f,0.1732f,0.8189f,0.5354f,0.0000f,0.2618f,0.0309f,0.0000f,0.8189f,0.5669f,0.0000f,0.2650f,0.0000f,0.0000f,1.0000f,0.0000f,0.0119f,0.2200f,0.0162f,0.4331f,0.6614f,0.5984f,0.0107f,0.2304f,0.0145f,0.5669f,-0.2422f,0.7795f,0.0163f,0.2423f,0.0222f,0.4567f,-0.6094f,0.6378f,0.0213f,0.2535f,0.0290f,0.5827f,-0.0469f,0.8031f,0.0184f,0.2618f,0.0250f,0.3307f,0.8189f,0.4567f,0.0162f,0.2200f,0.0119f,0.5984f,0.6614f,0.4331f,0.0145f,0.2304f,0.0107f,0.7795f,-0.2422f,0.5669f,0.0222f,0.2423f,0.0163f,0.6378f,-0.6094f,0.4567f,0.0290f,0.2535f,0.0213f,0.8031f,-0.0469f,0.5827f,0.0250f,0.2618f,0.0184f,0.4567f,0.8189f,0.3307f,0.0190f,0.2200f,0.0064f,0.7008f,0.6614f,0.2283f,0.0170f,0.2304f,0.0057f,0.9213f,-0.2422f,0.2913f,0.0260f,0.2423f,0.0088f,0.7480f,-0.6094f,0.2362f,0.0340f,0.2535f,0.0115f,0.9449f,-0.0469f,0.3071f,0.0293f,0.2618f,0.0099f,0.5354f,0.8189f,0.1732f,0.0200f,0.2200f,0.0000f,0.7402f,0.6614f,0.0000f,0.0179f,0.2304f,0.0000f,0.9685f,-0.2422f,0.0000f,0.0274f,0.2423f,0.0000f,0.7874f,-0.6094f,0.0000f,0.0358f,0.2535f,0.0000f,0.9921f,-0.0469f,0.0000f,0.0309f,0.2618f,0.0000f,0.5669f,0.8189f,0.0000f,-0.0190f,0.2200f,0.0064f,-0.7031f,0.6614f,0.2283f,-0.0170f,0.2304f,0.0057f,-0.9219f,-0.2422f,0.2913f,-0.0179f,0.2304f,0.0000f,-0.9688f,-0.2422f,0.0000f,-0.0200f,0.2200f,0.0000f,-0.7422f,0.6614f,0.0000f,-0.0260f,0.2423f,0.0088f,-0.7500f,-0.6094f,0.2362f,-0.0274f,0.2423f,0.0000f,-0.7891f,-0.6094f,0.0000f,-0.0340f,0.2535f,0.0115f,-0.9453f,-0.0469f,0.3071f,-0.0358f,0.2535f,0.0000f,-0.9922f,-0.0469f,0.0000f,-0.0293f,0.2618f,0.0099f,-0.5391f,0.8189f,0.1732f,-0.0309f,0.2618f,0.0000f,-0.5625f,0.8189f,0.0000f,-0.0162f,0.2200f,0.0119f,-0.6016f,0.6614f,0.4331f,-0.0145f,0.2304f,0.0107f,-0.7813f,-0.2422f,0.5669f,-0.0222f,0.2423f,0.0163f,-0.6328f,-0.6094f,0.4567f,-0.0290f,0.2535f,0.0213f,-0.8047f,-0.0469f,0.5827f,-0.0250f,0.2618f,0.0184f,-0.4531f,0.8189f,0.3307f,-0.0119f,0.2200f,0.0162f,-0.4375f,0.6614f,0.5984f,-0.0107f,0.2304f,0.0145f,-0.5625f,-0.2422f,0.7795f,-0.0163f,0.2423f,0.0222f,-0.4609f,-0.6094f,0.6378f,-0.0213f,0.2535f,0.0290f,-0.5859f,-0.0469f,0.8031f,-0.0184f,0.2618f,0.0250f,-0.3281f,0.8189f,0.4567f,-0.0064f,0.2200f,0.0190f,-0.2266f,0.6614f,0.7008f,-0.0057f,0.2304f,0.0170f,-0.2969f,-0.2422f,0.9213f,-0.0088f,0.2423f,0.0260f,-0.2422f,-0.6094f,0.7480f,-0.0115f,0.2535f,0.0340f,-0.3047f,-0.0469f,0.9449f,-0.0099f,0.2618f,0.0293f,-0.1719f,0.8189f,0.5354f,-0.0064f,0.2200f,-0.0190f,-0.2266f,0.6614f,-0.7031f,-0.0057f,0.2304f,-0.0170f,-0.2969f,-0.2422f,-0.9219f,0.0000f,0.2304f,-0.0179f,0.0000f,-0.2422f,-0.9688f,0.0000f,0.2200f,-0.0200f,0.0000f,0.6614f,-0.7422f,-0.0088f,0.2423f,-0.0260f,-0.2422f,-0.6094f,-0.7500f,0.0000f,0.2423f,-0.0274f,0.0000f,-0.6094f,-0.7891f,-0.0115f,0.2535f,-0.0340f,-0.3047f,-0.0469f,-0.9453f,0.0000f,0.2535f,-0.0358f,0.0000f,-0.0469f,-0.9922f,-0.0099f,0.2618f,-0.0293f,-0.1719f,0.8189f,-0.5391f,0.0000f,0.2618f,-0.0309f,0.0000f,0.8189f,-0.5625f,-0.0119f,0.2200f,-0.0162f,-0.4375f,0.6614f,-0.6016f,-0.0107f,0.2304f,-0.0145f,-0.5625f,-0.2422f,-0.7813f,-0.0163f,0.2423f,-0.0222f,-0.4609f,-0.6094f,-0.6328f,-0.0213f,0.2535f,-0.0290f,-0.5859f,-0.0469f,-0.8047f,-0.0184f,0.2618f,-0.0250f,-0.3281f,0.8189f,-0.4531f,-0.0162f,0.2200f,-0.0119f,-0.6016f,0.6614f,-0.4375f,-0.0145f,0.2304f,-0.0107f,-0.7813f,-0.2422f,-0.5625f,-0.0222f,0.2423f,-0.0163f,-0.6328f,-0.6094f,-0.4609f,-0.0290f,0.2535f,-0.0213f,-0.8047f,-0.0469f,-0.5859f,-0.0250f,0.2618f,-0.0184f,-0.4531f,0.8189f,-0.3281f,-0.0190f,0.2200f,-0.0064f,-0.7031f,0.6614f,-0.2266f,-0.0170f,0.2304f,-0.0057f,-0.9219f,-0.2422f,-0.2969f,-0.0260f,0.2423f,-0.0088f,-0.7500f,-0.6094f,-0.2422f,-0.0340f,0.2535f,-0.0115f,-0.9453f,-0.0469f,-0.3047f,-0.0293f,0.2618f,-0.0099f,-0.5391f,0.8189f,-0.1719f,0.0190f,0.2200f,-0.0064f,0.7008f,0.6614f,-0.2266f,0.0170f,0.2304f,-0.0057f,0.9213f,-0.2422f,-0.2969f,0.0260f,0.2423f,-0.0088f,0.7480f,-0.6094f,-0.2422f,0.0340f,0.2535f,-0.0115f,0.9449f,-0.0469f,-0.3047f,0.0293f,0.2618f,-0.0099f,0.5354f,0.8189f,-0.1719f,0.0162f,0.2200f,-0.0119f,0.5984f,0.6614f,-0.4375f,0.0145f,0.2304f,-0.0107f,0.7795f,-0.2422f,-0.5625f,0.0222f,0.2423f,-0.0163f,0.6378f,-0.6094f,-0.4609f,0.0290f,0.2535f,-0.0213f,0.8031f,-0.0469f,-0.5859f,0.0250f,0.2618f,-0.0184f,0.4567f,0.8189f,-0.3281f,0.0119f,0.2200f,-0.0162f,0.4331f,0.6614f,-0.6016f,0.0107f,0.2304f,-0.0145f,0.5669f,-0.2422f,-0.7813f,0.0163f,0.2423f,-0.0222f,0.4567f,-0.6094f,-0.6328f,0.0213f,0.2535f,-0.0290f,0.5827f,-0.0469f,-0.8047f,0.0184f,0.2618f,-0.0250f,0.3307f,0.8189f,-0.4531f,0.0064f,0.2200f,-0.0190f,0.2283f,0.6614f,-0.7031f,0.0057f,0.2304f,-0.0170f,0.2913f,-0.2422f,-0.9219f,0.0088f,0.2423f,-0.0260f,0.2362f,-0.6094f,-0.7500f,0.0115f,0.2535f,-0.0340f,0.3071f,-0.0469f,-0.9453f,0.0099f,0.2618f,-0.0293f,0.1732f,0.8189f,-0.5391f,0.0415f,0.1900f,0.1235f,0.1890f,0.7874f,0.5827f,0.0384f,0.1974f,0.1144f,0.1339f,0.8898f,0.4173f,0.0000f,0.1974f,0.1205f,0.0000f,0.8898f,0.4409f,0.0000f,0.1900f,0.1300f,0.0000f,0.7874f,0.6142f,0.0310f,0.2027f,0.0922f,0.0551f,0.9764f,0.1732f,0.0000f,0.2027f,0.0970f,0.0000f,0.9764f,0.1890f,0.0215f,0.2073f,0.0640f,0.0472f,0.9843f,0.1575f,0.0000f,0.2073f,0.0674f,0.0000f,0.9843f,0.1654f,0.0125f,0.2126f,0.0372f,0.0787f,0.9606f,0.2520f,0.0000f,0.2126f,0.0391f,0.0000f,0.9606f,0.2598f,0.0772f,0.1900f,0.1052f,0.3543f,0.7874f,0.4961f,0.0716f,0.1974f,0.0975f,0.2598f,0.8898f,0.3543f,0.0576f,0.2027f,0.0785f,0.1102f,0.9764f,0.1496f,0.0400f,0.2073f,0.0545f,0.0945f,0.9843f,0.1339f,0.0232f,0.2126f,0.0317f,0.1496f,0.9606f,0.2126f,0.1052f,0.1900f,0.0772f,0.4961f,0.7874f,0.3543f,0.0975f,0.1974f,0.0716f,0.3543f,0.8898f,0.2598f,0.0785f,0.2027f,0.0576f,0.1496f,0.9764f,0.1102f,0.0545f,0.2073f,0.0400f,0.1339f,0.9843f,0.0945f,0.0317f,0.2126f,0.0232f,0.2126f,0.9606f,0.1496f,0.1235f,0.1900f,0.0415f,0.5827f,0.7874f,0.1890f,0.1144f,0.1974f,0.0384f,0.4173f,0.8898f,0.1339f,0.0922f,0.2027f,0.0310f,0.1732f,0.9764f,0.0551f,0.0640f,0.2073f,0.0215f,0.1575f,0.9843f,0.0472f,0.0372f,0.2126f,0.0125f,0.2520f,0.9606f,0.0787f,0.1300f,0.1900f,0.0000f,0.6142f,0.7874f,0.0000f,0.1205f,0.1974f,0.0000f,0.4409f,0.8898f,0.0000f,0.0970f,0.2027f,0.0000f,0.1890f,0.9764f,0.0000f,0.0674f,0.2073f,0.0000f,0.1654f,0.9843f,0.0000f,0.0391f,0.2126f,0.0000f,0.2598f,0.9606f,0.0000f,-0.1235f,0.1900f,0.0415f,-0.5781f,0.7874f,0.1890f,-0.1144f,0.1974f,0.0384f,-0.4219f,0.8898f,0.1339f,-0.1205f,0.1974f,0.0000f,-0.4453f,0.8898f,0.0000f,-0.1300f,0.1900f,0.0000f,-0.6094f,0.7874f,0.0000f,-0.0922f,0.2027f,0.0310f,-0.1797f,0.9764f,0.0551f,-0.0970f,0.2027f,0.0000f,-0.1875f,0.9764f,0.0000f,-0.0640f,0.2073f,0.0215f,-0.1563f,0.9843f,0.0472f,-0.0674f,0.2073f,0.0000f,-0.1641f,0.9843f,0.0000f,-0.0372f,0.2126f,0.0125f,-0.2500f,0.9606f,0.0787f,-0.0391f,0.2126f,0.0000f,-0.2656f,0.9606f,0.0000f,-0.1052f,0.1900f,0.0772f,-0.4922f,0.7874f,0.3543f,-0.0975f,0.1974f,0.0716f,-0.3594f,0.8898f,0.2598f,-0.0785f,0.2027f,0.0576f,-0.1484f,0.9764f,0.1102f,-0.0545f,0.2073f,0.0400f,-0.1328f,0.9843f,0.0945f,-0.0317f,0.2126f,0.0232f,-0.2109f,0.9606f,0.1496f,-0.0772f,0.1900f,0.1052f,-0.3594f,0.7874f,0.4961f,-0.0716f,0.1974f,0.0975f,-0.2578f,0.8898f,0.3543f,-0.0576f,0.2027f,0.0785f,-0.1094f,0.9764f,0.1496f,-0.0400f,0.2073f,0.0545f,-0.0938f,0.9843f,0.1339f,-0.0232f,0.2126f,0.0317f,-0.1484f,0.9606f,0.2126f,-0.0415f,0.1900f,0.1235f,-0.1875f,0.7874f,0.5827f,-0.0384f,0.1974f,0.1144f,-0.1328f,0.8898f,0.4173f,-0.0310f,0.2027f,0.0922f,-0.0547f,0.9764f,0.1732f,-0.0215f,0.2073f,0.0640f,-0.0469f,0.9843f,0.1575f,-0.0125f,0.2126f,0.0372f,-0.0781f,0.9606f,0.2520f,-0.0415f,0.1900f,-0.1235f,-0.1875f,0.7874f,-0.5781f,-0.0384f,0.1974f,-0.1144f,-0.1328f,0.8898f,-0.4219f,0.0000f,0.1974f,-0.1205f,0.0000f,0.8898f,-0.4453f,0.0000f,0.1900f,-0.1300f,0.0000f,0.7874f,-0.6094f,-0.0310f,0.2027f,-0.0922f,-0.0547f,0.9764f,-0.1797f,0.0000f,0.2027f,-0.0970f,0.0000f,0.9764f,-0.1875f,-0.0215f,0.2073f,-0.0640f,-0.0469f,0.9843f,-0.1563f,0.0000f,0.2073f,-0.0674f,0.0000f,0.9843f,-0.1641f,-0.0125f,0.2126f,-0.0372f,-0.0781f,0.9606f,-0.2500f,0.0000f,0.2126f,-0.0391f,0.0000f,0.9606f,-0.2656f,-0.0772f,0.1900f,-0.1052f,-0.3594f,0.7874f,-0.4922f,-0.0716f,0.1974f,-0.0975f,-0.2578f,0.8898f,-0.3594f,-0.0576f,0.2027f,-0.0785f,-0.1094f,0.9764f,-0.1484f,-0.0400f,0.2073f,-0.0545f,-0.0938f,0.9843f,-0.1328f,-0.0232f,0.2126f,-0.0317f,-0.1484f,0.9606f,-0.2109f,-0.1052f,0.1900f,-0.0772f,-0.4922f,0.7874f,-0.3594f,-0.0975f,0.1974f,-0.0716f,-0.3594f,0.8898f,-0.2578f,-0.0785f,0.2027f,-0.0576f,-0.1484f,0.9764f,-0.1094f,-0.0545f,0.2073f,-0.0400f,-0.1328f,0.9843f,-0.0938f,-0.0317f,0.2126f,-0.0232f,-0.2109f,0.9606f,-0.1484f,-0.1235f,0.1900f,-0.0415f,-0.5781f,0.7874f,-0.1875f,-0.1144f,0.1974f,-0.0384f,-0.4219f,0.8898f,-0.1328f,-0.0922f,0.2027f,-0.0310f,-0.1797f,0.9764f,-0.0547f,-0.0640f,0.2073f,-0.0215f,-0.1563f,0.9843f,-0.0469f,-0.0372f,0.2126f,-0.0125f,-0.2500f,0.9606f,-0.0781f,0.1235f,0.1900f,-0.0415f,0.5827f,0.7874f,-0.1875f,0.1144f,0.1974f,-0.0384f,0.4173f,0.8898f,-0.1328f,0.0922f,0.2027f,-0.0310f,0.1732f,0.9764f,-0.0547f,0.0640f,0.2073f,-0.0215f,0.1575f,0.9843f,-0.0469f,0.0372f,0.2126f,-0.0125f,0.2520f,0.9606f,-0.0781f,0.1052f,0.1900f,-0.0772f,0.4961f,0.7874f,-0.3594f,0.0975f,0.1974f,-0.0716f,0.3543f,0.8898f,-0.2578f,0.0785f,0.2027f,-0.0576f,0.1496f,0.9764f,-0.1094f,0.0545f,0.2073f,-0.0400f,0.1339f,0.9843f,-0.0938f,0.0317f,0.2126f,-0.0232f,0.2126f,0.9606f,-0.1484f,0.0772f,0.1900f,-0.1052f,0.3543f,0.7874f,-0.4922f,0.0716f,0.1974f,-0.0975f,0.2598f,0.8898f,-0.3594f,0.0576f,0.2027f,-0.0785f,0.1102f,0.9764f,-0.1484f,0.0400f,0.2073f,-0.0545f,0.0945f,0.9843f,-0.1328f,0.0232f,0.2126f,-0.0317f,0.1496f,0.9606f,-0.2109f,0.0415f,0.1900f,-0.1235f,0.1890f,0.7874f,-0.5781f,0.0384f,0.1974f,-0.1144f,0.1339f,0.8898f,-0.4219f,0.0310f,0.2027f,-0.0922f,0.0551f,0.9764f,-0.1797f,0.0215f,0.2073f,-0.0640f,0.0472f,0.9843f,-0.1563f,0.0125f,0.2126f,-0.0372f,0.0787f,0.9606f,-0.2500f,
 8 | };
 9 | 
10 | static uint32_t teapot_triangles[] =
11 | {
12 |     0,1,2,0,2,3,1,4,5,1,5,2,4,6,7,4,7,5,6,8,9,6,9,7,8,10,11,8,11,9,12,13,1,12,1,0,13,14,4,13,4,1,14,15,6,14,6,4,15,16,8,15,8,6,16,17,10,16,10,8,18,19,13,18,13,12,19,20,14,19,14,13,20,21,15,20,15,14,21,22,16,21,16,15,22,23,17,22,17,16,24,25,19,24,19,18,25,26,20,25,20,19,26,27,21,26,21,20,27,28,22,27,22,21,28,29,23,28,23,22,30,31,25,30,25,24,31,32,26,31,26,25,32,33,27,32,27,26,33,34,28,33,28,27,34,35,29,34,29,28,36,37,38,36,38,39,37,40,41,37,41,38,40,42,43,40,43,41,42,44,45,42,45,43,44,46,47,44,47,45,48,49,37,48,37,36,49,50,40,49,40,37,50,51,42,50,42,40,51,52,44,51,44,42,52,53,46,52,46,44,54,55,49,54,49,48,55,56,50,55,50,49,56,57,51,56,51,50,57,58,52,57,52,51,58,59,53,58,53,52,60,61,55,60,55,54,61,62,56,61,56,55,62,63,57,62,57,56,63,64,58,63,58,57,64,65,59,64,59,58,3,2,61,3,61,60,2,5,62,2,62,61,5,7,63,5,63,62,7,9,64,7,64,63,9,11,65,9,65,64,66,67,68,66,68,69,67,70,71,67,71,68,70,72,73,70,73,71,72,74,75,72,75,73,74,76,77,74,77,75,78,79,67,78,67,66,79,80,70,79,70,67,80,81,72,80,72,70,81,82,74,81,74,72,82,83,76,82,76,74,84,85,79,84,79,78,85,86,80,85,80,79,86,87,81,86,81,80,87,88,82,87,82,81,88,89,83,88,83,82,90,91,85,90,85,84,91,92,86,91,86,85,92,93,87,92,87,86,93,94,88,93,88,87,94,95,89,94,89,88,39,38,91,39,91,90,38,41,92,38,92,91,41,43,93,41,93,92,43,45,94,43,94,93,45,47,95,45,95,94,96,97,31,96,31,30,97,98,32,97,32,31,98,99,33,98,33,32,99,100,34,99,34,33,100,101,35,100,35,34,102,103,97,102,97,96,103,104,98,103,98,97,104,105,99,104,99,98,105,106,100,105,100,99,106,107,101,106,101,100,108,109,103,108,103,102,109,110,104,109,104,103,110,111,105,110,105,104,111,112,106,111,106,105,112,113,107,112,107,106,114,115,109,114,109,108,115,116,110,115,110,109,116,117,111,116,111,110,117,118,112,117,112,111,118,119,113,118,113,112,69,68,115,69,115,114,68,71,116,68,116,115,71,73,117,71,117,116,73,75,118,73,118,117,75,77,119,75,119,118,120,121,122,120,122,123,121,124,125,121,125,122,124,126,127,124,127,125,126,128,129,126,129,127,128,0,3,128,3,129,130,131,121,130,121,120,131,132,124,131,124,121,132,133,126,132,126,124,133,134,128,133,128,126,134,12,0,134,0,128,135,136,131,135,131,130,136,137,132,136,132,131,137,138,133,137,133,132,138,139,134,138,134,133,139,18,12,139,12,134,140,141,136,140,136,135,141,142,137,141,137,136,142,143,138,142,138,137,143,144,139,143,139,138,144,24,18,144,18,139,145,146,141,145,141,140,146,147,142,146,142,141,147,148,143,147,143,142,148,149,144,148,144,143,149,30,24,149,24,144,150,151,152,150,152,153,151,154,155,151,155,152,154,156,157,154,157,155,156,158,159,156,159,157,158,36,39,158,39,159,160,161,151,160,151,150,161,162,154,161,154,151,162,163,156,162,156,154,163,164,158,163,158,156,164,48,36,164,36,158,165,166,161,165,161,160,166,167,162,166,162,161,167,168,163,167,163,162,168,169,164,168,164,163,169,54,48,169,48,164,170,171,166,170,166,165,171,172,167,171,167,166,172,173,168,172,168,167,173,174,169,173,169,168,174,60,54,174,54,169,123,122,171,123,171,170,122,125,172,122,172,171,125,127,173,125,173,172,127,129,174,127,174,173,129,3,60,129,60,174,175,176,177,175,177,178,176,179,180,176,180,177,179,181,182,179,182,180,181,183,184,181,184,182,183,66,69,183,69,184,185,186,176,185,176,175,186,187,179,186,179,176,187,188,181,187,181,179,188,189,183,188,183,181,189,78,66,189,66,183,190,191,186,190,186,185,191,192,187,191,187,186,192,193,188,192,188,187,193,194,189,193,189,188,194,84,78,194,78,189,195,196,191,195,191,190,196,197,192,196,192,191,197,198,193,197,193,192,198,199,194,198,194,193,199,90,84,199,84,194,153,152,196,153,196,195,152,155,197,152,197,196,155,157,198,155,198,197,157,159,199,157,199,198,159,39,90,159,90,199,200,201,146,200,146,145,201,202,147,201,147,146,202,203,148,202,148,147,203,204,149,203,149,148,204,96,30,204,30,149,205,206,201,205,201,200,206,207,202,206,202,201,207,208,203,207,203,202,208,209,204,208,204,203,209,102,96,209,96,204,210,211,206,210,206,205,211,212,207,211,207,206,212,213,208,212,208,207,213,214,209,213,209,208,214,108,102,214,102,209,215,216,211,215,211,210,216,217,212,216,212,211,217,218,213,217,213,212,218,219,214,218,214,213,219,114,108,219,108,214,178,177,216,178,216,215,177,180,217,177,217,216,180,182,218,180,218,217,182,184,219,182,219,218,184,69,114,184,114,219,220,221,222,220,222,223,221,224,225,221,225,222,224,226,227,224,227,225,226,228,229,226,229,227,228,120,123,228,123,229,230,231,221,230,221,220,231,232,224,231,224,221,232,233,226,232,226,224,233,234,228,233,228,226,234,130,120,234,120,228,235,236,231,235,231,230,236,237,232,236,232,231,237,238,233,237,233,232,238,239,234,238,234,233,239,135,130,239,130,234,240,241,236,240,236,235,241,242,237,241,237,236,242,243,238,242,238,237,243,244,239,243,239,238,244,140,135,244,135,239,245,246,241,245,241,240,246,247,242,246,242,241,247,248,243,247,243,242,248,249,244,248,244,243,249,145,140,249,140,244,250,251,252,250,252,253,251,254,255,251,255,252,254,256,257,254,257,255,256,258,259,256,259,257,258,150,153,258,153,259,260,261,251,260,251,250,261,262,254,261,254,251,262,263,256,262,256,254,263,264,258,263,258,256,264,160,150,264,150,258,265,266,261,265,261,260,266,267,262,266,262,261,267,268,263,267,263,262,268,269,264,268,264,263,269,165,160,269,160,264,270,271,266,270,266,265,271,272,267,271,267,266,272,273,268,272,268,267,273,274,269,273,269,268,274,170,165,274,165,269,223,222,271,223,271,270,222,225,272,222,272,271,225,227,273,225,273,272,227,229,274,227,274,273,229,123,170,229,170,274,275,276,277,275,277,278,276,279,280,276,280,277,279,281,282,279,282,280,281,283,284,281,284,282,283,175,178,283,178,284,285,286,276,285,276,275,286,287,279,286,279,276,287,288,281,287,281,279,288,289,283,288,283,281,289,185,175,289,175,283,290,291,286,290,286,285,291,292,287,291,287,286,292,293,288,292,288,287,293,294,289,293,289,288,294,190,185,294,185,289,295,296,291,295,291,290,296,297,292,296,292,291,297,298,293,297,293,292,298,299,294,298,294,293,299,195,190,299,190,294,253,252,296,253,296,295,252,255,297,252,297,296,255,257,298,255,298,297,257,259,299,257,299,298,259,153,195,259,195,299,300,301,246,300,246,245,301,302,247,301,247,246,302,303,248,302,248,247,303,304,249,303,249,248,304,200,145,304,145,249,305,306,301,305,301,300,306,307,302,306,302,301,307,308,303,307,303,302,308,309,304,308,304,303,309,205,200,309,200,304,310,311,306,310,306,305,311,312,307,311,307,306,312,313,308,312,308,307,313,314,309,313,309,308,314,210,205,314,205,309,315,316,311,315,311,310,316,317,312,316,312,311,317,318,313,317,313,312,318,319,314,318,314,313,319,215,210,319,210,314,278,277,316,278,316,315,277,280,317,277,317,316,280,282,318,280,318,317,282,284,319,282,319,318,284,178,215,284,215,319,320,321,322,320,322,278,321,323,324,321,324,322,323,325,326,323,326,324,325,327,328,325,328,326,327,329,328,310,330,321,310,321,320,330,331,323,330,323,321,331,332,325,331,325,323,332,333,327,332,327,325,333,329,327,305,334,330,305,330,310,334,335,331,334,331,330,335,336,332,335,332,331,336,337,333,336,333,332,337,329,333,338,339,334,338,334,305,339,340,335,339,335,334,340,341,336,340,336,335,341,342,337,341,337,336,342,329,337,245,343,339,245,339,338,343,344,340,343,340,339,344,345,341,344,341,340,345,346,342,345,342,341,346,329,342,347,348,349,347,349,253,348,350,351,348,351,349,350,352,353,350,353,351,352,354,355,352,355,353,354,329,355,290,356,348,290,348,347,356,357,350,356,350,348,357,358,352,357,352,350,358,359,354,358,354,352,359,329,354,285,360,356,285,356,290,360,361,357,360,357,356,361,362,358,361,358,357,362,363,359,362,359,358,363,329,359,364,365,360,364,360,285,365,366,361,365,361,360,366,367,362,366,362,361,367,368,363,367,363,362,368,329,363,278,322,365,278,365,364,322,324,366,322,366,365,324,326,367,324,367,366,326,328,368,326,368,367,328,329,368,369,370,371,369,371,223,370,372,373,370,373,371,372,374,375,372,375,373,374,376,377,374,377,375,376,329,377,265,378,370,265,370,369,378,379,372,378,372,370,379,380,374,379,374,372,380,381,376,380,376,374,381,329,376,260,382,378,260,378,265,382,383,379,382,379,378,383,384,380,383,380,379,384,385,381,384,381,380,385,329,381,386,387,382,386,382,260,387,388,383,387,383,382,388,389,384,388,384,383,389,390,385,389,385,384,390,329,385,253,349,387,253,387,386,349,351,388,349,388,387,351,353,389,351,389,388,353,355,390,353,390,389,355,329,390,391,392,343,391,343,245,392,393,344,392,344,343,393,394,345,393,345,344,394,395,346,394,346,345,395,329,346,235,396,392,235,392,391,396,397,393,396,393,392,397,398,394,397,394,393,398,399,395,398,395,394,399,329,395,230,400,396,230,396,235,400,401,397,400,397,396,401,402,398,401,398,397,402,403,399,402,399,398,403,329,399,404,405,400,404,400,230,405,406,401,405,401,400,406,407,402,406,402,401,407,408,403,407,403,402,408,329,403,223,371,405,223,405,404,371,373,406,371,406,405,373,375,407,373,407,406,375,377,408,375,408,407,377,329,408,409,410,411,409,411,412,410,413,414,410,414,411,413,415,416,413,416,414,415,417,418,415,418,416,417,419,420,417,420,418,421,422,410,421,410,409,422,423,413,422,413,410,423,424,415,423,415,413,424,425,417,424,417,415,425,426,419,425,419,417,427,428,422,427,422,421,428,429,423,428,423,422,429,430,424,429,424,423,430,431,425,430,425,424,431,432,426,431,426,425,433,434,428,433,428,427,434,435,429,434,429,428,435,436,430,435,430,429,436,437,431,436,431,430,437,438,432,437,432,431,439,440,434,439,434,433,440,441,435,440,435,434,441,442,436,441,436,435,442,443,437,442,437,436,443,444,438,443,438,437,445,446,440,445,440,439,446,447,441,446,441,440,447,448,442,447,442,441,448,449,443,448,443,442,449,450,444,449,444,443,451,452,446,451,446,445,452,453,447,452,447,446,453,454,448,453,448,447,454,455,449,454,449,448,455,456,450,455,450,449,457,458,452,457,452,451,458,459,453,458,453,452,459,460,454,459,454,453,460,461,455,460,455,454,461,462,456,461,456,455,463,464,458,463,458,457,464,465,459,464,459,458,465,466,460,465,460,459,466,467,461,466,461,460,467,468,462,467,462,461,412,411,464,412,464,463,411,414,465,411,465,464,414,416,466,414,466,465,416,418,467,416,467,466,418,420,468,418,468,467,469,470,471,469,471,472,470,473,474,470,474,471,473,475,476,473,476,474,475,477,478,475,478,476,477,409,412,477,412,478,479,480,470,479,470,469,480,481,473,480,473,470,481,482,475,481,475,473,482,483,477,482,477,475,483,421,409,483,409,477,484,485,480,484,480,479,485,486,481,485,481,480,486,487,482,486,482,481,487,488,483,487,483,482,488,427,421,488,421,483,489,490,485,489,485,484,490,491,486,490,486,485,491,492,487,491,487,486,492,493,488,492,488,487,493,433,427,493,427,488,153,494,490,153,490,489,494,495,491,494,491,490,495,496,492,495,492,491,496,497,493,496,493,492,497,439,433,497,433,493,498,499,494,498,494,153,499,500,495,499,495,494,500,501,496,500,496,495,501,502,497,501,497,496,502,445,439,502,439,497,503,504,499,503,499,498,504,505,500,504,500,499,505,506,501,505,501,500,506,507,502,506,502,501,507,451,445,507,445,502,508,509,504,508,504,503,509,510,505,509,505,504,510,511,506,510,506,505,511,512,507,511,507,506,512,457,451,512,451,507,513,514,509,513,509,508,514,515,510,514,510,509,515,516,511,515,511,510,516,517,512,516,512,511,517,463,457,517,457,512,472,471,514,472,514,513,471,474,515,471,515,514,474,476,516,474,516,515,476,478,517,476,517,516,478,412,463,478,463,517,518,519,520,518,520,521,519,522,523,519,523,520,522,524,525,522,525,523,524,526,527,524,527,525,526,528,529,526,529,527,530,531,519,530,519,518,531,532,522,531,522,519,532,533,524,532,524,522,533,534,526,533,526,524,534,535,528,534,528,526,536,537,531,536,531,530,537,538,532,537,532,531,538,539,533,538,533,532,539,540,534,539,534,533,540,541,535,540,535,534,542,543,537,542,537,536,543,544,538,543,538,537,544,545,539,544,539,538,545,546,540,545,540,539,546,547,541,546,541,540,548,549,543,548,543,542,549,550,544,549,544,543,550,551,545,550,545,544,551,552,546,551,546,545,552,553,547,552,547,546,554,555,549,554,549,548,555,556,550,555,550,549,556,557,551,556,551,550,557,558,552,557,552,551,558,559,553,558,553,552,560,561,555,560,555,554,561,562,556,561,556,555,562,563,557,562,557,556,563,564,558,563,558,557,564,565,559,564,559,558,566,567,561,566,561,560,567,568,562,567,562,561,568,569,563,568,563,562,569,570,564,569,564,563,570,571,565,570,565,564,572,573,567,572,567,566,573,574,568,573,568,567,574,575,569,574,569,568,575,576,570,575,570,569,576,577,571,576,571,570,521,520,573,521,573,572,520,523,574,520,574,573,523,525,575,523,575,574,525,527,576,525,576,575,527,529,577,527,577,576,578,579,580,578,580,581,579,582,583,579,583,580,582,584,585,582,585,583,584,586,587,584,587,585,586,518,521,586,521,587,588,589,579,588,579,578,589,590,582,589,582,579,590,591,584,590,584,582,591,592,586,591,586,584,592,530,518,592,518,586,593,594,589,593,589,588,594,595,590,594,590,589,595,596,591,595,591,590,596,597,592,596,592,591,597,536,530,597,530,592,598,599,594,598,594,593,599,600,595,599,595,594,600,601,596,600,596,595,601,602,597,601,597,596,602,542,536,602,536,597,603,604,599,603,599,598,604,605,600,604,600,599,605,606,601,605,601,600,606,607,602,606,602,601,607,548,542,607,542,602,608,609,604,608,604,603,609,610,605,609,605,604,610,611,606,610,606,605,611,612,607,611,607,606,612,554,548,612,548,607,613,614,609,613,609,608,614,615,610,614,610,609,615,616,611,615,611,610,616,617,612,616,612,611,617,560,554,617,554,612,618,619,614,618,614,613,619,620,615,619,615,614,620,621,616,620,616,615,621,622,617,621,617,616,622,566,560,622,560,617,623,624,619,623,619,618,624,625,620,624,620,619,625,626,621,625,621,620,626,627,622,626,622,621,627,572,566,627,566,622,581,580,624,581,624,623,580,583,625,580,625,624,583,585,626,583,626,625,585,587,627,585,627,626,587,521,572,587,572,627,628,629,630,628,630,631,629,632,633,629,633,630,632,634,635,632,635,633,634,636,637,634,637,635,636,638,637,639,640,629,639,629,628,640,641,632,640,632,629,641,642,634,641,634,632,642,643,636,642,636,634,643,638,636,644,645,640,644,640,639,645,646,641,645,641,640,646,647,642,646,642,641,647,648,643,647,643,642,648,638,643,649,650,645,649,645,644,650,651,646,650,646,645,651,652,647,651,647,646,652,653,648,652,648,647,653,638,648,654,655,650,654,650,649,655,656,651,655,651,650,656,657,652,656,652,651,657,658,653,657,653,652,658,638,653,659,660,661,659,661,662,660,663,664,660,664,661,663,665,666,663,666,664,665,667,668,665,668,666,667,638,668,669,670,660,669,660,659,670,671,663,670,663,660,671,672,665,671,665,663,672,673,667,672,667,665,673,638,667,674,675,670,674,670,669,675,676,671,675,671,670,676,677,672,676,672,671,677,678,673,677,673,672,678,638,673,679,680,675,679,675,674,680,681,676,680,676,675,681,682,677,681,677,676,682,683,678,682,678,677,683,638,678,631,630,680,631,680,679,630,633,681,630,681,680,633,635,682,633,682,681,635,637,683,635,683,682,637,638,683,684,685,686,684,686,687,685,688,689,685,689,686,688,690,691,688,691,689,690,692,693,690,693,691,692,638,693,694,695,685,694,685,684,695,696,688,695,688,685,696,697,690,696,690,688,697,698,692,697,692,690,698,638,692,699,700,695,699,695,694,700,701,696,700,696,695,701,702,697,701,697,696,702,703,698,702,698,697,703,638,698,704,705,700,704,700,699,705,706,701,705,701,700,706,707,702,706,702,701,707,708,703,707,703,702,708,638,703,662,661,705,662,705,704,661,664,706,661,706,705,664,666,707,664,707,706,666,668,708,666,708,707,668,638,708,709,710,655,709,655,654,710,711,656,710,656,655,711,712,657,711,657,656,712,713,658,712,658,657,713,638,658,714,715,710,714,710,709,715,716,711,715,711,710,716,717,712,716,712,711,717,718,713,717,713,712,718,638,713,719,720,715,719,715,714,720,721,716,720,716,715,721,722,717,721,717,716,722,723,718,722,718,717,723,638,718,724,725,720,724,720,719,725,726,721,725,721,720,726,727,722,726,722,721,727,728,723,727,723,722,728,638,723,687,686,725,687,725,724,686,689,726,686,726,725,689,691,727,689,727,726,691,693,728,691,728,727,693,638,728,729,730,731,729,731,732,730,733,734,730,734,731,733,735,736,733,736,734,735,737,738,735,738,736,737,628,631,737,631,738,739,740,730,739,730,729,740,741,733,740,733,730,741,742,735,741,735,733,742,743,737,742,737,735,743,639,628,743,628,737,744,745,740,744,740,739,745,746,741,745,741,740,746,747,742,746,742,741,747,748,743,747,743,742,748,644,639,748,639,743,749,750,745,749,745,744,750,751,746,750,746,745,751,752,747,751,747,746,752,753,748,752,748,747,753,649,644,753,644,748,754,755,750,754,750,749,755,756,751,755,751,750,756,757,752,756,752,751,757,758,753,757,753,752,758,654,649,758,649,753,759,760,761,759,761,762,760,763,764,760,764,761,763,765,766,763,766,764,765,767,768,765,768,766,767,659,662,767,662,768,769,770,760,769,760,759,770,771,763,770,763,760,771,772,765,771,765,763,772,773,767,772,767,765,773,669,659,773,659,767,774,775,770,774,770,769,775,776,771,775,771,770,776,777,772,776,772,771,777,778,773,777,773,772,778,674,669,778,669,773,779,780,775,779,775,774,780,781,776,780,776,775,781,782,777,781,777,776,782,783,778,782,778,777,783,679,674,783,674,778,732,731,780,732,780,779,731,734,781,731,781,780,734,736,782,734,782,781,736,738,783,736,783,782,738,631,679,738,679,783,784,785,786,784,786,787,785,788,789,785,789,786,788,790,791,788,791,789,790,792,793,790,793,791,792,684,687,792,687,793,794,795,785,794,785,784,795,796,788,795,788,785,796,797,790,796,790,788,797,798,792,797,792,790,798,694,684,798,684,792,799,800,795,799,795,794,800,801,796,800,796,795,801,802,797,801,797,796,802,803,798,802,798,797,803,699,694,803,694,798,804,805,800,804,800,799,805,806,801,805,801,800,806,807,802,806,802,801,807,808,803,807,803,802,808,704,699,808,699,803,762,761,805,762,805,804,761,764,806,761,806,805,764,766,807,764,807,806,766,768,808,766,808,807,768,662,704,768,704,808,809,810,755,809,755,754,810,811,756,810,756,755,811,812,757,811,757,756,812,813,758,812,758,757,813,709,654,813,654,758,814,815,810,814,810,809,815,816,811,815,811,810,816,817,812,816,812,811,817,818,813,817,813,812,818,714,709,818,709,813,819,820,815,819,815,814,820,821,816,820,816,815,821,822,817,821,817,816,822,823,818,822,818,817,823,719,714,823,714,818,824,825,820,824,820,819,825,826,821,825,821,820,826,827,822,826,822,821,827,828,823,827,823,822,828,724,719,828,719,823,787,786,825,787,825,824,786,789,826,786,826,825,789,791,827,789,827,826,791,793,828,791,828,827,793,687,724,793,724,828,
13 | };


--------------------------------------------------------------------------------
/tiny-gizmo-example/tiny-gizmo-example.sln:
--------------------------------------------------------------------------------
 1 | 
 2 | Microsoft Visual Studio Solution File, Format Version 12.00
 3 | # Visual Studio 14
 4 | VisualStudioVersion = 14.0.25420.1
 5 | MinimumVisualStudioVersion = 10.0.40219.1
 6 | Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "tiny-gizmo-example", "tiny-gizmo-example.vcxproj", "{E8595BE1-022E-46B2-9079-A12C655C5E4B}"
 7 | EndProject
 8 | Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "glfw3", "third-party\glfw-3.1.2\glfw3.vcxproj", "{BE423E72-28C2-4FB7-9FE1-42AA2F393BBC}"
 9 | EndProject
10 | Global
11 | 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
12 | 		Debug|x64 = Debug|x64
13 | 		Debug|x86 = Debug|x86
14 | 		Release|x64 = Release|x64
15 | 		Release|x86 = Release|x86
16 | 	EndGlobalSection
17 | 	GlobalSection(ProjectConfigurationPlatforms) = postSolution
18 | 		{E8595BE1-022E-46B2-9079-A12C655C5E4B}.Debug|x64.ActiveCfg = Debug|x64
19 | 		{E8595BE1-022E-46B2-9079-A12C655C5E4B}.Debug|x64.Build.0 = Debug|x64
20 | 		{E8595BE1-022E-46B2-9079-A12C655C5E4B}.Debug|x86.ActiveCfg = Debug|Win32
21 | 		{E8595BE1-022E-46B2-9079-A12C655C5E4B}.Debug|x86.Build.0 = Debug|Win32
22 | 		{E8595BE1-022E-46B2-9079-A12C655C5E4B}.Release|x64.ActiveCfg = Release|x64
23 | 		{E8595BE1-022E-46B2-9079-A12C655C5E4B}.Release|x64.Build.0 = Release|x64
24 | 		{E8595BE1-022E-46B2-9079-A12C655C5E4B}.Release|x86.ActiveCfg = Release|Win32
25 | 		{E8595BE1-022E-46B2-9079-A12C655C5E4B}.Release|x86.Build.0 = Release|Win32
26 | 		{BE423E72-28C2-4FB7-9FE1-42AA2F393BBC}.Debug|x64.ActiveCfg = Debug|x64
27 | 		{BE423E72-28C2-4FB7-9FE1-42AA2F393BBC}.Debug|x64.Build.0 = Debug|x64
28 | 		{BE423E72-28C2-4FB7-9FE1-42AA2F393BBC}.Debug|x86.ActiveCfg = Debug|Win32
29 | 		{BE423E72-28C2-4FB7-9FE1-42AA2F393BBC}.Debug|x86.Build.0 = Debug|Win32
30 | 		{BE423E72-28C2-4FB7-9FE1-42AA2F393BBC}.Release|x64.ActiveCfg = Release|x64
31 | 		{BE423E72-28C2-4FB7-9FE1-42AA2F393BBC}.Release|x64.Build.0 = Release|x64
32 | 		{BE423E72-28C2-4FB7-9FE1-42AA2F393BBC}.Release|x86.ActiveCfg = Release|Win32
33 | 		{BE423E72-28C2-4FB7-9FE1-42AA2F393BBC}.Release|x86.Build.0 = Release|Win32
34 | 	EndGlobalSection
35 | 	GlobalSection(SolutionProperties) = preSolution
36 | 		HideSolutionNode = FALSE
37 | 	EndGlobalSection
38 | EndGlobal
39 | 


--------------------------------------------------------------------------------
/tiny-gizmo-example/tiny-gizmo-example.vcxproj:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="utf-8"?>
  2 | <Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
  3 |   <ItemGroup Label="ProjectConfigurations">
  4 |     <ProjectConfiguration Include="Debug|Win32">
  5 |       <Configuration>Debug</Configuration>
  6 |       <Platform>Win32</Platform>
  7 |     </ProjectConfiguration>
  8 |     <ProjectConfiguration Include="Release|Win32">
  9 |       <Configuration>Release</Configuration>
 10 |       <Platform>Win32</Platform>
 11 |     </ProjectConfiguration>
 12 |     <ProjectConfiguration Include="Debug|x64">
 13 |       <Configuration>Debug</Configuration>
 14 |       <Platform>x64</Platform>
 15 |     </ProjectConfiguration>
 16 |     <ProjectConfiguration Include="Release|x64">
 17 |       <Configuration>Release</Configuration>
 18 |       <Platform>x64</Platform>
 19 |     </ProjectConfiguration>
 20 |   </ItemGroup>
 21 |   <ItemGroup>
 22 |     <ProjectReference Include="third-party\glfw-3.1.2\glfw3.vcxproj">
 23 |       <Project>{be423e72-28c2-4fb7-9fe1-42aa2f393bbc}</Project>
 24 |     </ProjectReference>
 25 |   </ItemGroup>
 26 |   <ItemGroup>
 27 |     <ClInclude Include="..\tiny-gizmo.hpp" />
 28 |     <ClInclude Include="gl-api.hpp" />
 29 |     <ClInclude Include="teapot.h" />
 30 |     <ClInclude Include="util.hpp" />
 31 |   </ItemGroup>
 32 |   <ItemGroup>
 33 |     <ClCompile Include="..\tiny-gizmo.cpp" />
 34 |     <ClCompile Include="example-main.cpp" />
 35 |   </ItemGroup>
 36 |   <PropertyGroup Label="Globals">
 37 |     <ProjectGuid>{E8595BE1-022E-46B2-9079-A12C655C5E4B}</ProjectGuid>
 38 |     <RootNamespace>xlab_cpp</RootNamespace>
 39 |     <WindowsTargetPlatformVersion>10.0.16299.0</WindowsTargetPlatformVersion>
 40 |     <ProjectName>tiny-gizmo-example</ProjectName>
 41 |   </PropertyGroup>
 42 |   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
 43 |   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
 44 |     <ConfigurationType>Application</ConfigurationType>
 45 |     <UseDebugLibraries>true</UseDebugLibraries>
 46 |     <PlatformToolset>v141</PlatformToolset>
 47 |     <CharacterSet>MultiByte</CharacterSet>
 48 |   </PropertyGroup>
 49 |   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
 50 |     <ConfigurationType>Application</ConfigurationType>
 51 |     <UseDebugLibraries>false</UseDebugLibraries>
 52 |     <PlatformToolset>v141</PlatformToolset>
 53 |     <WholeProgramOptimization>true</WholeProgramOptimization>
 54 |     <CharacterSet>MultiByte</CharacterSet>
 55 |   </PropertyGroup>
 56 |   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
 57 |     <ConfigurationType>Application</ConfigurationType>
 58 |     <UseDebugLibraries>true</UseDebugLibraries>
 59 |     <PlatformToolset>v141</PlatformToolset>
 60 |     <CharacterSet>MultiByte</CharacterSet>
 61 |   </PropertyGroup>
 62 |   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
 63 |     <ConfigurationType>Application</ConfigurationType>
 64 |     <UseDebugLibraries>false</UseDebugLibraries>
 65 |     <PlatformToolset>v141</PlatformToolset>
 66 |     <WholeProgramOptimization>true</WholeProgramOptimization>
 67 |     <CharacterSet>MultiByte</CharacterSet>
 68 |   </PropertyGroup>
 69 |   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
 70 |   <ImportGroup Label="ExtensionSettings">
 71 |   </ImportGroup>
 72 |   <ImportGroup Label="Shared">
 73 |   </ImportGroup>
 74 |   <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
 75 |     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
 76 |   </ImportGroup>
 77 |   <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
 78 |     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
 79 |   </ImportGroup>
 80 |   <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
 81 |     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
 82 |   </ImportGroup>
 83 |   <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
 84 |     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
 85 |   </ImportGroup>
 86 |   <PropertyGroup Label="UserMacros" />
 87 |   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
 88 |     <OutDir>$(ProjectDir)\build\</OutDir>
 89 |     <IntDir>$(ProjectDir)\build\obj\</IntDir>
 90 |   </PropertyGroup>
 91 |   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
 92 |     <OutDir>$(ProjectDir)\build\</OutDir>
 93 |     <IntDir>$(ProjectDir)\build\obj\</IntDir>
 94 |   </PropertyGroup>
 95 |   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
 96 |     <OutDir>$(ProjectDir)\build\</OutDir>
 97 |     <IntDir>$(ProjectDir)\build\obj\</IntDir>
 98 |   </PropertyGroup>
 99 |   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
100 |     <OutDir>$(ProjectDir)\build\</OutDir>
101 |     <IntDir>$(ProjectDir)\build\obj\</IntDir>
102 |   </PropertyGroup>
103 |   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
104 |     <ClCompile>
105 |       <WarningLevel>Level3</WarningLevel>
106 |       <Optimization>Disabled</Optimization>
107 |       <SDLCheck>true</SDLCheck>
108 |       <AdditionalIncludeDirectories>$(SolutionDir)third-party;$(SolutionDir)third-party\glew;$(SolutionDir)third-party\glfw-3.1.2\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
109 |       <PreprocessorDefinitions>_CRT_SECURE_NO_WARNINGS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
110 |     </ClCompile>
111 |     <Link>
112 |       <AdditionalLibraryDirectories>$(SolutionDir)third-party\glew\lib\$(Platform);$(SolutionDir)third-party\fbxsdk\lib\x64\$(Configuration);%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
113 |       <AdditionalDependencies>glew32s.lib;opengl32.lib;%(AdditionalDependencies)</AdditionalDependencies>
114 |     </Link>
115 |     <PostBuildEvent>
116 |       <Command>
117 |       </Command>
118 |     </PostBuildEvent>
119 |   </ItemDefinitionGroup>
120 |   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
121 |     <ClCompile>
122 |       <WarningLevel>Level3</WarningLevel>
123 |       <Optimization>Disabled</Optimization>
124 |       <SDLCheck>true</SDLCheck>
125 |       <AdditionalIncludeDirectories>$(SolutionDir)third-party;$(SolutionDir)third-party\glew;$(SolutionDir)third-party\glfw-3.1.2\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
126 |       <PreprocessorDefinitions>_CRT_SECURE_NO_WARNINGS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
127 |     </ClCompile>
128 |     <Link>
129 |       <AdditionalLibraryDirectories>$(SolutionDir)third-party\glew\lib\$(Platform);$(SolutionDir)third-party\fbxsdk\lib\x64\$(Configuration);%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
130 |       <AdditionalDependencies>glew32s.lib;opengl32.lib;%(AdditionalDependencies)</AdditionalDependencies>
131 |     </Link>
132 |     <PostBuildEvent>
133 |       <Command>
134 |       </Command>
135 |     </PostBuildEvent>
136 |   </ItemDefinitionGroup>
137 |   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
138 |     <ClCompile>
139 |       <WarningLevel>Level3</WarningLevel>
140 |       <Optimization>MaxSpeed</Optimization>
141 |       <FunctionLevelLinking>true</FunctionLevelLinking>
142 |       <IntrinsicFunctions>true</IntrinsicFunctions>
143 |       <SDLCheck>true</SDLCheck>
144 |       <AdditionalIncludeDirectories>$(SolutionDir)third-party;$(SolutionDir)third-party\glew;$(SolutionDir)third-party\glfw-3.1.2\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
145 |       <PreprocessorDefinitions>_CRT_SECURE_NO_WARNINGS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
146 |     </ClCompile>
147 |     <Link>
148 |       <EnableCOMDATFolding>true</EnableCOMDATFolding>
149 |       <OptimizeReferences>true</OptimizeReferences>
150 |       <AdditionalLibraryDirectories>$(SolutionDir)third-party\glew\lib\$(Platform);$(SolutionDir)third-party\fbxsdk\lib\x64\$(Configuration);%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
151 |       <AdditionalDependencies>glew32s.lib;opengl32.lib;%(AdditionalDependencies)</AdditionalDependencies>
152 |     </Link>
153 |     <PostBuildEvent>
154 |       <Command>
155 |       </Command>
156 |     </PostBuildEvent>
157 |   </ItemDefinitionGroup>
158 |   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
159 |     <ClCompile>
160 |       <WarningLevel>Level3</WarningLevel>
161 |       <Optimization>MaxSpeed</Optimization>
162 |       <FunctionLevelLinking>true</FunctionLevelLinking>
163 |       <IntrinsicFunctions>true</IntrinsicFunctions>
164 |       <SDLCheck>true</SDLCheck>
165 |       <AdditionalIncludeDirectories>$(SolutionDir)third-party;$(SolutionDir)third-party\glew;$(SolutionDir)third-party\glfw-3.1.2\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
166 |       <PreprocessorDefinitions>_CRT_SECURE_NO_WARNINGS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
167 |     </ClCompile>
168 |     <Link>
169 |       <EnableCOMDATFolding>true</EnableCOMDATFolding>
170 |       <OptimizeReferences>true</OptimizeReferences>
171 |       <AdditionalLibraryDirectories>$(SolutionDir)third-party\glew\lib\$(Platform);$(SolutionDir)third-party\fbxsdk\lib\x64\$(Configuration);%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
172 |       <AdditionalDependencies>glew32s.lib;opengl32.lib;%(AdditionalDependencies)</AdditionalDependencies>
173 |     </Link>
174 |     <PostBuildEvent>
175 |       <Command>
176 |       </Command>
177 |     </PostBuildEvent>
178 |   </ItemDefinitionGroup>
179 |   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
180 |   <ImportGroup Label="ExtensionTargets">
181 |   </ImportGroup>
182 | </Project>


--------------------------------------------------------------------------------
/tiny-gizmo-example/tiny-gizmo-example.vcxproj.filters:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="utf-8"?>
 2 | <Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
 3 |   <ItemGroup>
 4 |     <Filter Include="gizmo">
 5 |       <UniqueIdentifier>{886b3b0e-2a37-489f-b0cf-7ab0efe1bdb1}</UniqueIdentifier>
 6 |     </Filter>
 7 |     <Filter Include="extra">
 8 |       <UniqueIdentifier>{0bceb5fb-0b9d-4b04-842b-5da21648b39d}</UniqueIdentifier>
 9 |     </Filter>
10 |   </ItemGroup>
11 |   <ItemGroup>
12 |     <ClCompile Include="example-main.cpp" />
13 |     <ClCompile Include="..\tiny-gizmo.cpp">
14 |       <Filter>gizmo</Filter>
15 |     </ClCompile>
16 |   </ItemGroup>
17 |   <ItemGroup>
18 |     <ClInclude Include="util.hpp">
19 |       <Filter>extra</Filter>
20 |     </ClInclude>
21 |     <ClInclude Include="gl-api.hpp">
22 |       <Filter>extra</Filter>
23 |     </ClInclude>
24 |     <ClInclude Include="teapot.h">
25 |       <Filter>extra</Filter>
26 |     </ClInclude>
27 |     <ClInclude Include="..\tiny-gizmo.hpp">
28 |       <Filter>gizmo</Filter>
29 |     </ClInclude>
30 |   </ItemGroup>
31 | </Project>


--------------------------------------------------------------------------------
/tiny-gizmo-example/util.hpp:
--------------------------------------------------------------------------------
  1 | // This is free and unencumbered software released into the public domain.
  2 | // For more information, please refer to <http://unlicense.org>
  3 | 
  4 | #pragma once
  5 | 
  6 | #ifndef tinygizmo_example_util_hpp
  7 | #define tinygizmo_example_util_hpp
  8 | 
  9 | #include <functional>
 10 | #include <vector>
 11 | 
 12 | //#define GLEW_STATIC
 13 | #define GL_GLEXT_PROTOTYPES
 14 | #include "GL/glew.h"
 15 | 
 16 | #define GLFW_INCLUDE_GLU
 17 | #include "GLFW/glfw3.h"
 18 | 
 19 | #include "../tiny-gizmo.hpp"
 20 | #include "linalg.h"
 21 | 
 22 | ///////////////////////////////////
 23 | //   Windowing & App Lifecycle   //
 24 | ///////////////////////////////////
 25 | 
 26 | struct ray { linalg::aliases::float3 origin; linalg::aliases::float3 direction; };
 27 | 
 28 | struct rect
 29 | {
 30 |     int x0, y0, x1, y1;
 31 |     int width() const { return x1 - x0; }
 32 |     int height() const { return y1 - y0; }
 33 |     linalg::aliases::int2 dims() const { return{ width(), height() }; }
 34 |     float aspect_ratio() const { return (float)width() / height(); }
 35 | };
 36 | 
 37 | struct camera
 38 | {
 39 |     float yfov, near_clip, far_clip;
 40 |     linalg::aliases::float3 position;
 41 |     float pitch, yaw;
 42 |     linalg::aliases::float4 get_orientation() const { return qmul(rotation_quat(linalg::aliases::float3(0, 1, 0), yaw), rotation_quat(linalg::aliases::float3(1, 0, 0), pitch)); }
 43 |     linalg::aliases::float4x4 get_view_matrix() const { return mul(rotation_matrix(qconj(get_orientation())), translation_matrix(-position)); }
 44 |     linalg::aliases::float4x4 get_projection_matrix(const float aspectRatio) const { return linalg::perspective_matrix(yfov, aspectRatio, near_clip, far_clip); }
 45 |     linalg::aliases::float4x4 get_viewproj_matrix(const float aspectRatio) const { return mul(get_projection_matrix(aspectRatio), get_view_matrix()); }
 46 | };
 47 | 
 48 | // Returns a world-space ray through the given pixel, originating at the camera
 49 | ray get_ray_from_pixel(const linalg::aliases::float2 & pixel, const rect & viewport, const camera & cam)
 50 | {
 51 |     const float x = 2 * (pixel.x - viewport.x0) / viewport.width() - 1, y = 1 - 2 * (pixel.y - viewport.y0) / viewport.height();
 52 |     const linalg::aliases::float4x4 inv_view_proj = inverse(cam.get_viewproj_matrix(viewport.aspect_ratio()));
 53 |     const linalg::aliases::float4 p0 = mul(inv_view_proj, linalg::aliases::float4(x, y, -1, 1)), p1 = mul(inv_view_proj, linalg::aliases::float4(x, y, +1, 1));
 54 |     return{ cam.position, p1.xyz()*p0.w - p0.xyz()*p1.w };
 55 | }
 56 | 
 57 | class Window
 58 | {
 59 |     GLFWwindow * window;
 60 | public:
 61 |     std::function<void(unsigned int codepoint)> on_char;
 62 |     std::function<void(int key, int action, int mods)> on_key;
 63 |     std::function<void(int button, int action, int mods)> on_mouse_button;
 64 |     std::function<void(linalg::aliases::float2 pos)> on_cursor_pos;
 65 |     std::function<void(int numFiles, const char ** paths)> on_drop;
 66 | 
 67 |     Window(int width, int height, const char * title)
 68 |     {
 69 |         glewExperimental = GL_TRUE;
 70 |         if (glfwInit() == GL_FALSE) throw std::runtime_error("glfwInit() failed");
 71 | 
 72 |         // Define version and compatibility settings
 73 |         // this must occur after init and before create window.
 74 |         glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 4);
 75 |         glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 1);
 76 |         glfwWindowHint(GLFW_OPENGL_PROFILE,GLFW_OPENGL_CORE_PROFILE);
 77 |         glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
 78 |         glfwWindowHint(GLFW_RESIZABLE, GL_FALSE);
 79 | 
 80 |         window = glfwCreateWindow(width, height, title, nullptr, nullptr);
 81 |         if (!window) throw std::runtime_error("glfwCreateWindow() failed");
 82 | 
 83 |         glfwMakeContextCurrent(window);
 84 | 
 85 |         if (GLenum err = glewInit())
 86 |         {
 87 |             throw std::runtime_error(std::string("glewInit() failed - ") + (const char *)glewGetErrorString(err));
 88 |         }
 89 |         
 90 |         std::cout << "GL_SHADING_LANGUAGE_VERSION: " << glGetString(GL_SHADING_LANGUAGE_VERSION) << std::endl;
 91 | 
 92 |         glfwSetCharCallback(window, [](GLFWwindow * window, unsigned int codepoint) {
 93 |             auto w = (Window *)glfwGetWindowUserPointer(window); if (w->on_char) w->on_char(codepoint);
 94 |         });
 95 | 
 96 |         glfwSetKeyCallback(window, [](GLFWwindow * window, int key, int, int action, int mods) {
 97 |             auto w = (Window *)glfwGetWindowUserPointer(window); if (w->on_key) w->on_key(key, action, mods);
 98 |         });
 99 | 
100 |         glfwSetMouseButtonCallback(window, [](GLFWwindow * window, int button, int action, int mods) {
101 |             auto w = (Window *)glfwGetWindowUserPointer(window); if (w->on_mouse_button) w->on_mouse_button(button, action, mods);
102 |         });
103 | 
104 |         glfwSetCursorPosCallback(window, [](GLFWwindow * window, double xpos, double ypos) {
105 |             auto w = (Window *)glfwGetWindowUserPointer(window); if (w->on_cursor_pos) w->on_cursor_pos(linalg::aliases::float2(linalg::aliases::double2(xpos, ypos)));
106 |         });
107 | 
108 |         glfwSetDropCallback(window, [](GLFWwindow * window, int numFiles, const char ** paths) {
109 |             auto w = (Window *)glfwGetWindowUserPointer(window); if (w->on_drop) w->on_drop(numFiles, paths);
110 |         });
111 | 
112 |         glfwSetWindowUserPointer(window, this);
113 |     }
114 | 
115 |     ~Window()
116 |     {
117 |         glfwMakeContextCurrent(window);
118 |         glfwDestroyWindow(window);
119 |         glfwTerminate();
120 |     }
121 | 
122 |     Window(const Window &) = delete;
123 |     Window(Window &&) = delete;
124 |     Window & operator = (const Window &) = delete;
125 |     Window & operator = (Window &&) = delete;
126 | 
127 |     GLFWwindow * get_glfw_window_handle() { return window; };
128 |     bool should_close() const { return !!glfwWindowShouldClose(window); }
129 |     int get_window_attrib(int attrib) const { return glfwGetWindowAttrib(window, attrib); }
130 |     linalg::aliases::int2 get_window_size() const { linalg::aliases::int2 size; glfwGetWindowSize(window, &size.x, &size.y); return size; }
131 |     void set_window_size(linalg::aliases::int2 newSize) { glfwSetWindowSize(window, newSize.x, newSize.y); }
132 |     linalg::aliases::int2 get_framebuffer_size() const { linalg::aliases::int2 size; glfwGetFramebufferSize(window, &size.x, &size.y); return size; }
133 |     linalg::aliases::float2 get_cursor_pos() const { linalg::aliases::double2 pos; glfwGetCursorPos(window, &pos.x, &pos.y); return linalg::aliases::float2(pos); }
134 | 
135 |     void swap_buffers() { glfwSwapBuffers(window); }
136 |     void close() { glfwSetWindowShouldClose(window, 1); }
137 | };
138 | 
139 | #endif // end tinygizmo_example_util_hpp
140 | 


--------------------------------------------------------------------------------
/tiny-gizmo.hpp:
--------------------------------------------------------------------------------
  1 | // This is free and unencumbered software originally written and released into the public domain by Dimitri Diakopoulos.
  2 | // For more information, please refer to <http://unlicense.org>
  3 | //
  4 | // The original code is here: https://github.com/ddiakopoulos/tinygizmo
  5 | // and this version is from here: https://github.com/meshula/tinygizmo/tree/really-tiny
  6 | 
  7 | #ifndef tinygizmo_hpp
  8 | #define tinygizmo_hpp
  9 | 
 10 | #include <stdint.h> // for uint32_t
 11 | 
 12 | namespace tinygizmo
 13 | {
 14 |     // Basic numeric types
 15 | 
 16 |     struct v2f { float x, y; };
 17 |     struct v3f { float x, y, z; };
 18 |     struct v4f { float x, y, z, w; };
 19 |     typedef v4f quatf;
 20 |     struct uint3 { uint32_t x, y, z; };
 21 |     struct m44f { v4f x, y, z, w; };
 22 | 
 23 |     // Utility object to be manipulated by the gizmos
 24 | 
 25 |     struct rigid_transform
 26 |     {
 27 |         rigid_transform() {}
 28 |         rigid_transform(const quatf& orientation, const v3f& position, const v3f& scale) : orientation(orientation), position(position), scale(scale) {}
 29 |         rigid_transform(const quatf& orientation, const v3f& position, float scale) : orientation(orientation), position(position), scale{ scale, scale, scale } {}
 30 |         rigid_transform(const quatf& orientation, const v3f& position) : orientation(orientation), position(position) {}
 31 | 
 32 |         quatf    orientation{ 0,0,0,1 };
 33 |         v3f      position{ 0,0,0 };
 34 |         v3f      scale{ 1,1,1 };
 35 | 
 36 |         bool     is_uniform_scale() const { return scale.x == scale.y && scale.x == scale.z; }
 37 |         m44f     matrix() const;
 38 |         v3f      transform_vector(const v3f& vec) const;
 39 |         v3f      transform_point(const v3f& p) const;
 40 |         v3f      detransform_point(const v3f& p) const;
 41 |         v3f      detransform_vector(const v3f& vec) const;
 42 |     };
 43 | 
 44 |     // input data for the gizmo's calculations
 45 | 
 46 |     struct camera_parameters
 47 |     {
 48 |         float yfov, near_clip, far_clip;
 49 |         v3f   position;
 50 |         quatf orientation;
 51 |     };
 52 | 
 53 |     struct gizmo_application_state
 54 |     {
 55 |         bool mouse_left{ false };           // indicates that LMB is pressed
 56 |         bool modifier_active{ false };      // indicates an active interaction modifier, for example the control key
 57 | 
 58 |         float screenspace_scale{ 0.f };     // If > 0.f, the gizmos are drawn scale-invariant with a screenspace value defined here
 59 |         float snap_translation{ 0.f };      // World-scale units used for snapping translation
 60 |         float snap_scale{ 0.f };            // World-scale units used for snapping scale
 61 |         float snap_rotation{ 0.f };         // Radians used for snapping rotation quaternions (i.e. PI/8 or PI/16)
 62 | 
 63 |         v2f viewport_size{ 0,0 };           // 3d viewport used to render the view
 64 |         v3f ray_origin{ 0,0,0 };            // world-space ray origin (i.e. the camera position)
 65 |         v3f ray_direction{ 0,0,1 };         // world-space ray direction
 66 | 
 67 |         camera_parameters cam;              // Used for constructing inverse view projection for raycasting onto gizmo geometry
 68 |     };
 69 | 
 70 |     enum class transform_mode { translate, rotate, scale };
 71 |     enum class reference_frame { local, global };
 72 | 
 73 |     class gizmo_context
 74 |     {
 75 |         struct gizmo_context_impl;
 76 |         gizmo_context_impl* impl;
 77 | 
 78 |     public:
 79 |         gizmo_context();
 80 |         ~gizmo_context();
 81 | 
 82 |         transform_mode get_mode() const;
 83 |         void set_mode(transform_mode);
 84 |         reference_frame get_frame() const;
 85 |         void set_frame(reference_frame);
 86 | 
 87 |         void begin(const gizmo_application_state & state); // Clear geometry buffer and update internal `gizmo_application_state` data
 88 |         void end(const gizmo_application_state & state);
 89 | 
 90 |         // The following functions are to be called between begin and end.
 91 | 
 92 |         // Fills index_buffer with faces to draw all gizmos, up to capacity. Returns desired capacity.
 93 |         // If desired capacity is greater than buffer_capacity, a larger index_buffer should be provided, and faces(...) called again.
 94 |         // Providing a null pointer for index_buffer, or a zero buffer_capacity is a quick way to discover necessary buffer size.
 95 |         int triangles(uint32_t* index_buffer, int buffer_capacity);
 96 | 
 97 |         // position:v3f, normal::v3f, color::v4f
 98 |         int vertices(float* vertex_buffer, int stride, int normal_offset, int color_offset, int vertex_capacity);
 99 | 
100 |         // returns true if the gizmo is hovered, or being manipulated.
101 |         // call once for every active transform gizmo.
102 |         // Any gizmo not named between begin and end will disappear. The manipulation state will be remembered for the next time the gizmo is activated.
103 |         bool transform_gizmo(char const* const name, rigid_transform& t);
104 |     };
105 | 
106 | } // end namespace tinygizmo;
107 | 
108 | #endif // end tinygizmo_hpp
109 | 


--------------------------------------------------------------------------------