Update a few files... need to get working with linmath. But first switching accounts.

5 files changed, 64 insertions, 12 deletions

diff --git a/Makefile b/Makefile
index 1a1712d..ec5d39b 100644
--- a/Makefile
+++ b/Makefile
@@ -1,5 +1,7 @@
 all : lib data_recorder test calibrate calibrate_client
 
+CC:=gcc
+
 CFLAGS:=-Iinclude/libsurvive -I. -fPIC -g -O0 -Iredist -flto -DUSE_DOUBLE -std=gnu99
 LDFLAGS:=-lpthread -lusb-1.0 -lz -lX11 -lm -flto -g
 
@@ -8,28 +10,33 @@ POSERS:=src/poser_dummy.o
 REDISTS:=redist/json_helpers.o redist/linmath.o redist/jsmn.o
 LIBSURVIVE_CORE:=src/survive.o src/survive_usb.o src/survive_data.o src/survive_process.o src/ootx_decoder.o src/survive_driverman.o src/survive_vive.o src/survive_config.o 
 LIBSURVIVE_O:=$(CALS) $(POSERS) $(REDISTS) $(LIBSURVIVE_CORE)
+LIBSURVIVE_C:=$(LIBSURVIVE_O:.o=.c)
 
 GRAPHICS_LOFI:=redist/DrawFunctions.o redist/XDriver.o
 
 # unused: redist/crc32.c
 
-test : test.c lib/libsurvive.so redist/os_generic.o
-	gcc -o $@ $^ $(LDFLAGS) $(CFLAGS)
+test : test.c ./lib/libsurvive.so redist/os_generic.o
+	$(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS)
+
+data_recorder : data_recorder.c ./lib/libsurvive.so redist/os_generic.c $(GRAPHICS_LOFI)
+	$(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS)
 
-data_recorder : data_recorder.c lib/libsurvive.so redist/os_generic.c $(GRAPHICS_LOFI)
-	gcc -o $@ $^ $(LDFLAGS) $(CFLAGS)
+calibrate :  calibrate.c ./lib/libsurvive.so redist/os_generic.c $(GRAPHICS_LOFI)
+	$(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS)
 
-calibrate :  calibrate.c lib/libsurvive.so redist/os_generic.c $(GRAPHICS_LOFI)
-	gcc -o $@ $^ $(LDFLAGS) $(CFLAGS)
+calibrate_client :  calibrate_client.c ./lib/libsurvive.so redist/os_generic.c $(GRAPHICS_LOFI)
+	$(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS)
 
-calibrate_client :  calibrate_client.c lib/libsurvive.so redist/os_generic.c $(GRAPHICS_LOFI)
-	gcc -o $@ $^ $(LDFLAGS) $(CFLAGS)
+## Still not working!!! Don't use.
+static_calibrate : calibrate.c redist/os_generic.c redist/XDriver.c redist/DrawFunctions.c $(LIBSURVIVE_C)
+	tcc -o $@ $^ $(CFLAGS) $(LDFLAGS) -DTCC
 
 lib:
 	mkdir lib
 
 lib/libsurvive.so : $(LIBSURVIVE_O)
-	gcc -o $@ $^ $(LDFLAGS) -shared
+	$(CC) -o $@ $^ $(LDFLAGS) -shared
 
 clean :
 	rm -rf *.o src/*.o *~ src/*~ test data_recorder lib/libsurvive.so redist/*.o redist/*~
diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h
index 03249e9..b349ff1 100644
--- a/include/libsurvive/survive.h
+++ b/include/libsurvive/survive.h
@@ -140,7 +140,7 @@ void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode
 void   RegisterDriver( const char * name, void * data );
 
 #define REGISTER_LINKTIME( func ) \
-	void __attribute__((constructor)) Register##func() { RegisterDriver( #func, &func ); }
+	void __attribute__((constructor)) LTRegister##func() { RegisterDriver( #func, &func ); }
 
 
 
diff --git a/redist/linmath.h b/redist/linmath.h
index 676d182..a58b2bf 100644
--- a/redist/linmath.h
+++ b/redist/linmath.h
@@ -89,9 +89,13 @@ void quatevenproduct( FLT * q, FLT * qa, FLT * qb );
 void quatoddproduct( FLT * outvec3, FLT * qa, FLT * qb );
 void quatslerp( FLT * q, const FLT * qa, const FLT * qb, FLT t );
 void quatrotatevector( FLT * vec3out, const FLT * quat, const FLT * vec3in );
-
 void quatfrom2vectors(FLT *q, const FLT *src, const FLT *dest);
 
+//Poses are Position: [x, y, z]  Quaternion: [q, x, y, z]
+void ApplyPoseToPoint( FLT * pout, const FLT * pin, const FLT * pose );
+void InvertPose( FLT * poseout, const FLT * pose );
+
+
 // Matrix Stuff
 
 typedef struct
diff --git a/redist/lintest.c b/redist/lintest.c
new file mode 100644
index 0000000..0a268ff
--- /dev/null
+++ b/redist/lintest.c
@@ -0,0 +1,41 @@
+#include "linmath.h"
+#include <stdio.h>
+
+int main()
+{
+	
+	FLT e[3] = { 1,1,3.14 };
+	FLT q[4];
+	FLT m[16];
+
+	quatfromeuler( q, e );
+	printf( "%f %f %f %f\n\n", PFFOUR( q ) );
+	quattomatrix(m,q);
+	printf( "%f %f %f %f\n", PFFOUR( &m[0] ) );
+	printf( "%f %f %f %f\n", PFFOUR( &m[4] ) );
+	printf( "%f %f %f %f\n", PFFOUR( &m[8] ) );
+	printf( "%f %f %f %f\n\n", PFFOUR( &m[12] ) );
+	quatfrommatrix(q,m );
+	printf( "%f %f %f %f\n\n", PFFOUR( q ) );
+	quattoeuler( e,q );
+	printf( "E: %f %f %f\n", e[0], e[1], e[2] );
+
+
+	FLT p[3] = { 0, 0, 1 };
+	printf( "%f %f %f\n", PFTHREE( p ) );
+	quatrotatevector( p, q, p );
+	printf( "%f %f %f\n", PFTHREE( p ) );
+	printf( "Flipping rotation\n" );
+	q[0] *= -1; //Wow that was easy.
+	quatrotatevector( p, q, p );
+	printf( "%f %f %f\n", PFTHREE( p ) );
+
+
+	//Try setting up a pose.
+	FLT mypose[7] = { 0, 0, 10, q[0], q[1], q[2], q[3] );
+	ApplyPoseToPoint( FLT * pout, const FLT * pin, const FLT * pose );
+void InvertPose( FLT * poseout, const FLT * pose );
+	
+	
+}
+
diff --git a/src/survive_data.c b/src/survive_data.c
index 63cc5c2..75edfb3 100644
--- a/src/survive_data.c
+++ b/src/survive_data.c
@@ -12,7 +12,7 @@ void handle_lightcap( SurviveObject * so, LightcapElement * le )
 	//int32_t deltat = (uint32_t)le->timestamp - (uint32_t)so->last_master_time;
 
 	//if( so->codename[0] != 'H' )
-	//printf( "*** %s %d %d %d %d %d\n", so->codename, le->sensor_id, le->type, le->length, le->timestamp, le->timestamp-so->tsl );
+	printf( "*** %s %d %d %d %d %d\n", so->codename, le->sensor_id, le->type, le->length, le->timestamp, le->timestamp-so->tsl );
 
 	if( le->sensor_id > SENSORS_PER_OBJECT )
 	{