Moved plot_lighthouse to the tools folder

9 files changed, 0 insertions, 776 deletions

diff --git a/dave/plot_lighthouse/.DS_Store b/dave/plot_lighthouse/.DS_Store
deleted file mode 100644
index 493ea1e..0000000
--- a/dave/plot_lighthouse/.DS_Store
+++ /dev/null
diff --git a/dave/plot_lighthouse/Makefile b/dave/plot_lighthouse/Makefile
deleted file mode 100644
index d156bdb..0000000
--- a/dave/plot_lighthouse/Makefile
+++ /dev/null
@@ -1,15 +0,0 @@
-UNAME := $(shell uname)
-
-ifeq ($(UNAME), Linux)
-CFLAGS:= -lGL -lGLU -lglut
-endif
-
-# Darwin is Mac OSX !!
-ifeq ($(UNAME), Darwin)
-CFLAGS:= -w -framework OpenGL -framework GLUT
-endif
-
-all:
-	gcc -O3 -o plot_lighthouse main.c glutil.c fileutil.c ../../redist/os_generic.c $(CFLAGS)
-clean:
-	rm -f plot_lighthouse
diff --git a/dave/plot_lighthouse/README.txt b/dave/plot_lighthouse/README.txt
deleted file mode 100644
index 4e65688..0000000
--- a/dave/plot_lighthouse/README.txt
+++ /dev/null
@@ -1,20 +0,0 @@
-Plots the lighthouse positions, and the hmd bearing angles from stdin using OpenGL
-
-----
-- Step 1:
-----
-
-You must run lighthousefind first
-
-lighthousefind L processed_data.txt > L.txt 
-lighthousefind R processed_data.txt > R.txt
-
-you must move L.txt and R.txt into the same directory as this program
-
-----
-- Step 2
-----
-
-Then you need to run processrawcap and pipe the output into plot_lighthouse
-
-../../tools/process_rawcap/process_to_points [raw data.csv] | ./plot_lighthouse
diff --git a/dave/plot_lighthouse/fileutil.c b/dave/plot_lighthouse/fileutil.c
deleted file mode 100644
index f892798..0000000
--- a/dave/plot_lighthouse/fileutil.c
+++ /dev/null
@@ -1,124 +0,0 @@
-#include "fileutil.h"
-#include <stdio.h>
-#include <stdlib.h>
-
-#define PI 3.14159265358979323846264
-
-
-og_mutex_t  read_mutex;
-og_thread_t read_thread;
-double read_hmdAngles[NUM_SWEEP][NUM_HMD];
-int read_hmdAngleViewed[NUM_SWEEP][NUM_HMD];
-int read_frameno=0;
-
-static FILE *fopen_orDie(const char *path, const char *flag)
-{
-	FILE *f = fopen(path, flag);
-	if (f == NULL) {
-		printf("ERROR could not oepn %s for %s\n", path, flag);
-		exit(1);
-	}
-	return f;
-}
-
-static void SeekToken(FILE *f, const char *keyword)
-{
-	char token[4096];
-	do {
-		fscanf(f, "%s", token);
-	} while( strcmp(token,keyword)!=0 && !feof(f) );
-}
-
-void LoadLighthousePos(
-        const char *path,
-        float *x, float *y, float *z,
-        float *qi, float *qj, float *qk, float *qreal)
-{
-	FILE *f = fopen_orDie(path,"r");
-	SeekToken(f, "POS:");
-	fscanf(f, "%f %f %f\n", x, y, z);
-	SeekToken(f, "QUAT:");
-	fscanf(f, "%f %f %f %f\n", qreal, qi, qj, qk);
-	fclose (f);
-}
-
-void LoadHmdProcessedDataAngles(
-	const char *path,
-	double angles[NUM_SWEEP][NUM_HMD])
-{
-	int i,j;
-	char   type[256];
-	char   sweep[256];
-	int    id;
-	int    nSweep;
-	double ang;
-	double d1,d2,d3;  // revisit these numbers later
-
-	// Initialize all of the angles to -9999
-	for (i=0; i<NUM_SWEEP; i++) {
-		for (j=0; j<NUM_HMD; j++) {
-			angles[i][j] = -9999.0;   // Initially no value
-		}
-	}
-
-	FILE *f = fopen_orDie(path, "r");
-
-	while (!feof(f))
-	{
-		// Read the line from the file
-		int rt=fscanf(f, "%s %s %d %d %lf %lf %lf %lf",
-			&type, &sweep, &id, &nSweep, &ang,
-			&d1,&d2,&d3);
-
-		if (rt<8) { break; }
-
-		// Only hmd points
-		if ( strcmp(type,"HMD")!=0 ) { continue; }
-
-		// Which sweep is it?
-		int sweepId=-1;
-		if      ( strcmp(sweep,"LX")==0 ) { sweepId=SWEEP_LX; }
-		else if ( strcmp(sweep,"LY")==0 ) { sweepId=SWEEP_LY; }
-		else if ( strcmp(sweep,"RX")==0 ) { sweepId=SWEEP_RX; }
-		else if ( strcmp(sweep,"RY")==0 ) { sweepId=SWEEP_RY; }
-		else { continue; }
-		
-		// Convert the angle from ticks to radians
-		angles[sweepId][id] = (PI / 400000.0) * ( ang-200000.0 );
-	}
-
-	fclose(f);
-}
-
-void *ThreadReadHmtAngles(void *junk)
-{
-	char house[256];
-	char xy[256];
-	char hmd[256];
-	double ts;
-	int id;
-	int syncid;
-	int timeInSweep;
-	int length;
-	//lighthouse sweep hmdOrwmd timestamp id syncid timeinsweep length
-
-	while(1) {
-		scanf("%s %s %s %lf %d %d %d %d", house, xy, hmd, &ts, &id, &syncid, &timeInSweep, &length);
-
-		int sweepId=0;
-		if ( house[0]=='R' ) { sweepId+=2; }
-		if ( xy[0]   =='Y' ) { sweepId++; }
-		double angle = (PI / 400000.0) * ( (double)timeInSweep-200000.0 );
-		
-		if ( strcmp(hmd,"HMD")!=0 ) { continue; }
-		
-		if ( id<0 || id >NUM_HMD) { continue; }
-
-		OGLockMutex  (read_mutex);
-		read_hmdAngles[sweepId][id] = angle;
-		OGUnlockMutex(read_mutex);
-		read_hmdAngleViewed[sweepId][id] = read_frameno;
-	}
-}
-
-
diff --git a/dave/plot_lighthouse/fileutil.h b/dave/plot_lighthouse/fileutil.h
deleted file mode 100644
index 714fbbd..0000000
--- a/dave/plot_lighthouse/fileutil.h
+++ /dev/null
@@ -1,34 +0,0 @@
-#ifndef _fileutil_h_
-#define _fileutil_h_
-
-#include <pthread.h>
-#include "../../redist/os_generic.h"
-
-void LoadLighthousePos(
-	const char *path, 
-	float *x, float *y, float *z,
-	float *qi, float *qj, float *qk, float *qreal);
-
-
-#define NUM_HMD   32
-#define NUM_SWEEP 4
-#define SWEEP_LX  0
-#define SWEEP_LY  1
-#define SWEEP_RX  2
-#define SWEEP_RY  3
-void LoadHmdProcessedDataAngles(
-	const char *path,
-	double angle[NUM_SWEEP][NUM_HMD]);
-
-
-extern og_mutex_t  read_mutex;
-extern og_thread_t read_thread;
-extern double read_hmdAngles[NUM_SWEEP][NUM_HMD];
-extern int read_hmdAngleViewed[NUM_SWEEP][NUM_HMD];
-extern int read_frameno;
-void *ThreadReadHmtAngles(void *junk);
-
-
-#endif // __fileutil_h_
-
-
diff --git a/dave/plot_lighthouse/glutil.c b/dave/plot_lighthouse/glutil.c
deleted file mode 100644
index dd022a0..0000000
--- a/dave/plot_lighthouse/glutil.c
+++ /dev/null
@@ -1,75 +0,0 @@
-//
-//  glutil.c
-//  
-//
-//  Created by user on 2/4/17.
-//
-//
-
-#include "glutil.h"
-
-void DrawGrid(
-	float minX, float maxX,
-	float minY, float maxY,
-	float minZ, float maxZ,
-	float stepX, float stepY, float stepZ)
-{
-	float x,y,z;
-	
-	glBegin(GL_LINES);
-
-	// X grid stripes
-	for (y=minY; y<maxY; y+=stepY) {
-		for (z=minZ; z<maxZ; z+=stepZ) {
-			glVertex3f(minX, y, z);
-			glVertex3f(maxX, y, z);
-		}
-	}
-
-	// Y grid stripes
-	for (x=minX; x<maxX; x+=stepX) {
-		for (z=minZ; z<maxZ; z+=stepZ) {
-			glVertex3f(x, minY, z);
-			glVertex3f(x, maxY, z);
-		}
-	}
-
-	// Z grid stripes
-	for (y=minY; y<maxY; y+=stepY) {
-		for (x=minX; x<maxX; x+=stepX) {
-			glVertex3f(x, y, minZ);
-			glVertex3f(x, y, maxZ);
-		}
-	}
-
-	glEnd();
-}
-
-
-void DrawCoordinateSystem(
-	float x, float y, float z,
-	float qx, float qy, float qz, float qr)
-{
-	Quaternion i0,j0,k0;
-	Quaternion i, j, k;
-	Quaternion q;
-
-	// Calculate the i, j, and k vectors
-	QuaternionSet(i0, 1, 0, 0, 0);
-	QuaternionSet(j0, 0, 1, 0, 0);
-	QuaternionSet(k0, 0, 0, 1, 0);
-	QuaternionSet(q, qx, qy, qz, qr);
-	QuaternionRot(i, q, i0);
-	QuaternionRot(j, q, j0);
-	QuaternionRot(k, q, k0);
-	
-	// Draw the coordinate system i red, j green, k blue
-	glBegin(GL_LINES);
-	glColor3f(1, 0, 0); glVertex3f(x,z,y); glVertex3f(x+i.i,z+i.k,y+i.j);
-	glColor3f(0, 1, 0); glVertex3f(x,z,y); glVertex3f(x+j.i,z+j.k,y+j.j);
-	glColor3f(0, 0, 1); glVertex3f(x,z,y); glVertex3f(x+k.i,z+k.k,y+k.j);
-	glEnd();
-}
-
-
-
diff --git a/dave/plot_lighthouse/glutil.h b/dave/plot_lighthouse/glutil.h
deleted file mode 100644
index 1014506..0000000
--- a/dave/plot_lighthouse/glutil.h
+++ /dev/null
@@ -1,34 +0,0 @@
-//
-//  glutil.h
-//  
-//
-//  Created by user on 2/4/17.
-//
-//
-
-#ifndef glutil_h
-#define glutil_h
-
-#include <stdio.h>
-#include "quaternion.h"
-
-#include <stdio.h>
-#ifdef __APPLE__
-#include <OpenGL/gl.h>   // The GL Header File
-#include <GLUT/glut.h>   // The GL Utility Toolkit (Glut) Header
-#else
-#include <GL/gl.h>
-#include <GL/glu.h>
-#endif
-
-void DrawGrid(
-	float minX, float maxX,
-	float minY, float maxY,
-	float minZ, float maxZ,
-	float stepX, float stepY, float stepZ);
-
-void DrawCoordinateSystem(
-	float x, float y, float z,
-	float qx, float qy, float qz, float qr);
-
-#endif /* glutil_h */
diff --git a/dave/plot_lighthouse/main.c b/dave/plot_lighthouse/main.c
deleted file mode 100755
index c2fd97a..0000000
--- a/dave/plot_lighthouse/main.c
+++ /dev/null
@@ -1,336 +0,0 @@
-/*
- When creating your project, uncheck OWL,
- uncheck Class Library, select Static
- instead of Dynamic and change the target
- model to Console from GUI.
- Also link glut.lib to your project once its done.
- */
-
-#include <stdio.h>   // Standard Header For Most Programs
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-#include "glutil.h"
-#include "fileutil.h"
-
-// Required to set up a window
-#define WIDTH  800
-#define HEIGHT 600
-#define FULLSCREEN 0
-int    keys[256];               // Regular keyboard keys
-int sp_keys[256];               // Special keyboard keycodes (GLUT specific)
-
-#define PI 3.1415926535897932386264
-#define MOVESPEED 1.0
-#define ROTSPEED  5.0
-
-#define GRID_SIZE       6
-#define GRID_MAJOR_STEP 3
-#define GRID_MINOR_STEP 1
-
-// Lighthouses
-typedef struct Lhouse {
-	float x,y,z,qi,qj,qk,qreal;   // position x,y,z and quaternion
-} Lhouse;
-Lhouse houseL, houseR;
-
-// HmdSensor array
-double hmdAngles[NUM_SWEEP][NUM_HMD];
-
-
-static void HmdDir(double LX, double LY, double *pX, double *pY, double *pZ) {
-	// Normals for the two planes
-	double a = cos(LX);  double b = 0.0;     double c = -sin(LX);  // X,Z plane
-	double A = 0.0;      double B = cos(LY); double C = -sin(LY);  // Y,Z plane
-//	double A=0.0; double B=1.0; double C=0.0;
-	printf("rotX %f rotY %f x,z plane normal %f %f %f  y,z plane normal %f %f %f\n",
-		180/PI*LX,180/PI*LY, a,b,c, A,B,C);
-	
-	// calculate the direction
-	double x = (b*C - B*c) / (B*a - A*b);
-	double y = (a*C - A*c) / (A*b - B*a);
-	double z = 1.0;
-	
-	// Normalize
-	double len = sqrt(x*x + y*y + z*z);
-	x/=len; y/=len; z/=len;
-	printf("   xyz %f %f %f\n", x, y, z);
-	
-	*pX=x; *pY=y; *pZ=z;
-}
-
-// View space
-float posx=0.0f;
-float posy=0.0f;
-float posz=0.0f;
-float rotx=0.0f;
-float roty=0.0f;
-float rotz=0.0f;
-
-/*
- * init() is called at program startup
- */
-void init()
-{    
-	int i,j;
-    
-	// Load the lighthouses
-	LoadLighthousePos("L.txt", &houseL.x,&houseL.y,&houseL.z,&houseL.qi,&houseL.qj,&houseL.qk,&houseL.qreal);
-	LoadLighthousePos("R.txt", &houseR.x,&houseR.y,&houseR.z,&houseR.qi,&houseR.qj,&houseR.qk,&houseR.qreal);
-	printf("L pos %f %f %f quat %f %f %f %f\n", houseL.x,houseL.y,houseL.z,houseL.qi,houseL.qj,houseL.qk,houseL.qreal);
-	printf("R pos %f %f %f quat %f %f %f %f\n", houseR.x,houseR.y,houseR.z,houseR.qi,houseR.qj,houseR.qk,houseR.qreal);
-/*
-	// Load the bearing angles
-	LoadHmdProcessedDataAngles("processed_data.txt", hmdAngles);
-*/
-	// Spawn the thread to read the hmt angles
-	memset(read_hmdAngleViewed, 0, NUM_HMD*NUM_SWEEP*sizeof(int));
-	read_mutex  = OGCreateMutex();
-	for (i=0; i<32; i++) {
-		for (j=0; j<4; j++) {
-			read_hmdAngles[j][i] = -9999.0;
-		}
-	}
-	read_thread = OGCreateThread(ThreadReadHmtAngles,NULL);	
-
-	for (i=0; i<32; i++) {
-		if (hmdAngles[0][i]!=-9999.0 && hmdAngles[1][i]!=-9999.0 && hmdAngles[2][i]!=-9999.0 && hmdAngles[3][i]!=-9999.0)
-		{
-			printf("hmd %d lx %f ly %f rx %f ry %f\n",
-				i,
-				(180.0/PI) * hmdAngles[SWEEP_LX][i],
-				(180.0/PI) * hmdAngles[SWEEP_LY][i],
-				(180.0/PI) * hmdAngles[SWEEP_RX][i],
-				(180.0/PI) * hmdAngles[SWEEP_RY][i]);
-		}
-	}
-
-	// Initialize OpenGL
-	glShadeModel(GL_SMOOTH);							// Enable Smooth Shading
-	glClearColor(0.6f, 0.8f, 1.0f, 0.5f);				// Black Background
-	glClearDepth(1.0f);									// Depth Buffer Setup
-	glEnable(GL_DEPTH_TEST);							// Enables Depth Testing
-	glDepthFunc(GL_LEQUAL);								// The Type Of Depth Testing To Do
-	glEnable ( GL_COLOR_MATERIAL );
-	glDisable(GL_CULL_FACE);
-	glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);
-}
-
-/*
- * draw() is called once every frame
- */
-void draw()
-{
-	int i,j;
-
-    //------------------------
-    // Check for keyboard input
-    //------------------------
-    if (keys['w'] || keys['W']) {
-        posz += MOVESPEED;
-    }
-    if (keys['s'] || keys['S']) {
-        posz -= MOVESPEED;
-    }
-    if (keys['a'] || keys['A']) {
-        roty += ROTSPEED;
-    }
-    if (keys['d'] || keys['D']) {
-        roty -= ROTSPEED;
-    }
-    if (keys[27]) {
-        exit(0);
-    }
-    
-    //------------------------
-    // Update the scene
-    //------------------------
-    
-    //------------------------
-    // Draw using OpenGL
-    //------------------------
-    
-    // Clear the screen
-    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);	// Clear Screen And Depth Buffer
- 
-    // Translate and rotate the camera
-    glLoadIdentity();  // Reset The Current Modelview Matrix
-    glTranslatef(-posx,-posy,posz);						// Move Left 1.5 Units And Into The    
-
-    glRotatef(-rotx, 1.0f, 0.0f, 0.0f);
-    glRotatef(-roty+90.0, 0.0f, 1.0f, 0.0f);
-    glRotatef(-rotz, 0.0f, 0.0f, 1.0f);
-
-    glScalef(1.0, 1.0, -1.0);
-//    printf("rot: %f %f %f  pos: %f %f %f\n", rotx, roty, rotz, posx, posy, posz);
-
-	//-----------------    
-	// Draw the grid
-	//-----------------
-//    glPointSize(1.0);
-//    glColor3f(0.5, 0.5, 0.5);
-//    DrawGrid(-GRID_SIZE, GRID_SIZE, -GRID_SIZE, GRID_SIZE, -GRID_SIZE, GRID_SIZE, 
-//	GRID_MINOR_STEP, GRID_MINOR_STEP, GRID_MINOR_STEP);
-
-
-	glLineWidth(1.0);
-	
-	glPointSize(4.0);
-	glColor3f(0.0, 0.0, 0.0);
-	DrawGrid(-GRID_SIZE, GRID_SIZE, -GRID_SIZE, GRID_SIZE, -GRID_SIZE, GRID_SIZE, 
-		GRID_MAJOR_STEP, GRID_MAJOR_STEP, GRID_MAJOR_STEP);
-
-	//-----------------
-	// Plot the lighthouses
-	//-----------------
-	
-	glLineWidth(2.0);
-	
-	// Left lighthouse coordinate system
-	DrawCoordinateSystem(
-		houseL.x, houseL.y, houseL.z,
-		houseL.qi, houseL.qj, houseL.qk, houseL.qreal);
-	
-	// Rightt lighthouse coordinate system
-	DrawCoordinateSystem(
-		houseR.x, houseR.y, houseR.z,
-		houseR.qi, houseR.qj, houseR.qk, houseR.qreal);
-
-	glPointSize(15.0);
-	glBegin(GL_POINTS);
-	
-	// Left house in red
-	glColor3f(1,0,0);
-	glVertex3f(houseL.x, houseL.z, houseL.y);
-	
-	// Green is the origin (hmd)
-	glColor3f(0,1,0);
-	glVertex3f(0,0,0);
-	
-	// Right house in blue
-	glColor3f(0,0,1);
-	glVertex3f(houseR.x, houseR.z, houseR.y);
-	
-	glEnd();
-
-	//-------------------
-	// Draw the bearing angles
-	//-------------------
-	
-	// Read the hmd angles
-	OGLockMutex(read_mutex);
-	for (i=0; i<4; i++) {
-		for (j=0; j<32; j++) {
-			hmdAngles[i][j] = read_hmdAngles[i][j];
-		}
-	}
-	OGUnlockMutex(read_mutex);
-
-	// For every head mount angle
-	glBegin(GL_LINES);
-	for (i=0; i<32; i++) {
-	
-		// If the bearings exist
-		if (/*read_hmdAngleViewed[0][i] >= read_frameno-6 &&
-			read_hmdAngleViewed[1][i] >= read_frameno-6 &&
-			read_hmdAngleViewed[2][i] >= read_frameno-6 &&
-			read_hmdAngleViewed[3][i] >= read_frameno-6 &&*/
-			hmdAngles[0][i]!=-9999.0 && hmdAngles[1][i]!=-9999.0 && hmdAngles[2][i]!=-9999.0 && hmdAngles[3][i]!=-9999.0)
-		{
-			// Get the hmd bearings
-			double Ldx,Ldy,Ldz,Rdx,Rdy,Rdz;
-			HmdDir(hmdAngles[SWEEP_LX][i], hmdAngles[SWEEP_LY][i], &Ldx, &Ldy, &Ldz);
-			HmdDir(hmdAngles[SWEEP_RX][i], hmdAngles[SWEEP_RY][i], &Rdx, &Rdy, &Rdz);
-		
-			// Rotate by the lighthouse coordinate systems
-			Quaternion L0,L,R0,R,Lq,Rq;
-			QuaternionSet(L0,Ldx,Ldy,Ldz,0.0);
-			QuaternionSet(R0,Rdx,Rdy,Rdz,0.0);
-			QuaternionSet(Lq,houseL.qi,houseL.qj,houseL.qk,houseL.qreal);
-			QuaternionSet(Rq,houseR.qi,houseR.qj,houseR.qk,houseR.qreal);
-			QuaternionRot(L, Lq, L0);   // L is world space bearing from Left lighthouse to hmd
-			QuaternionRot(R, Rq, R0);   // R is world space bearing from Right lighthouse to hmd
-		
-			// Plot the lines
-			const double dist=10.0;
-			glVertex3f(houseL.x, houseL.z, houseL.y);
-			glVertex3f(houseL.x+dist*L.i, houseL.z+dist*L.k, houseL.y+dist*L.j);
-			glVertex3f(houseR.x, houseR.z, houseR.y);
-			glVertex3f(houseR.x+dist*R.i, houseR.z+dist*R.k, houseR.y+dist*R.j);
-		}
-	}
-	glEnd();
-
-	read_frameno++;
-
-    //
-    // Draw the Terrain
-    //
-    glutSwapBuffers ( );         // Swap The Buffers To Not Be Left With A Clear Screen
-}
-
-/*
- * resize() is called when we change the screen size
- */
-void resize(int width, int height)		// Resize And Initialize The GL Window
-{
-    glViewport(0,0,width,height);						// Reset The Current Viewport
-    
-    glMatrixMode(GL_PROJECTION);						// Select The Projection Matrix
-    glLoadIdentity();									// Reset The Projection Matrix
-    
-    // Uncomment For a 3D perspective
-    gluPerspective(45.0f,(float)width/(float)height,0.1f,1000.0f);
-    // Uncomment for a 2D perspective
-    //glOrtho(0.0, WIDTH, 0.0, HEIGHT, -10.0, 10.0);
-    
-    glMatrixMode(GL_MODELVIEW);							// Select The Modelview Matrix
-    glLoadIdentity();									// Reset The Modelview Matrix
-}
-
-/*
- * These functions are called whenever a key is pressed
- */
-void keyboardDown ( unsigned char key, int x, int y )  // Create Keyboard Function
-{
-    keys[key] = 1;
-}
-void keyboardUp ( unsigned char key, int x, int y )
-{
-    keys[key] = 0;
-}
-
-void specialKeyDown ( int key, int x, int y )  // Create Special Function (required for arrow keys)
-{
-    if (key<256) {
-        sp_keys[key] = 1;
-    }
-}
-void specialKeyUp (int key, int x, int y)
-{
-    if (key<256) {
-        sp_keys[key] = 0;
-    }
-}
-
-int main ( int argc, char** argv )   // Create Main Function For Bringing It All Together
-{
-    glutInit            ( &argc, argv ); // Erm Just Write It =)
-    glutInitDisplayMode ( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE ); // Display Mode
-    glutInitWindowSize  ( WIDTH, HEIGHT ); // If glutFullScreen wasn't called this is the window size
-    glutCreateWindow    ( "OpenGL" ); // Window Title (argv[0] for current directory as title)
-    if (FULLSCREEN) {
-        glutFullScreen      ( );          // Put Into Full Screen
-    }
-    glutDisplayFunc     ( draw );  // Matching Earlier Functions To Their Counterparts
-    glutIdleFunc        ( draw );
-    glutReshapeFunc     ( resize );
-    glutKeyboardFunc    ( keyboardDown );
-    glutKeyboardUpFunc  ( keyboardUp );
-    glutSpecialFunc     ( specialKeyDown );
-    glutSpecialUpFunc   ( specialKeyUp );
-    init ();
-    glutMainLoop        ( );          // Initialize The Main Loop
-    return 0;
-}
-
diff --git a/dave/plot_lighthouse/quaternion.h b/dave/plot_lighthouse/quaternion.h
deleted file mode 100755
index 050e5b8..0000000
--- a/dave/plot_lighthouse/quaternion.h
+++ /dev/null
@@ -1,138 +0,0 @@
-//
-//  quaternion.h
-//  Game
-//
-//  Created by user on 9/8/16.
-//  Copyright © 2016 user. All rights reserved.
-//
-
-#ifndef quaternion_h
-#define quaternion_h
-
-typedef struct {
-    float i,j,k,r;
-} Quaternion;
-typedef struct {
-    float x,y,z,theta;
-} AxisAngle;
-
-typedef struct {
-    Quaternion rot;   // orientation
-    Quaternion pos;   // positon
-} QuaternionBone;
-
-#define printq2(name,quat) printf("%s i %f j %f k %f r %f\n", name, quat.i, quat.j, quat.k, quat.r)
-
-#define QuaternionNormalize(quat) { \
-    float inv_len= 1.0f / sqrt( quat.i*quat.i + quat.j*quat.j + quat.k*quat.k + quat.r*quat.r ); \
-    quat.i *= inv_len; \
-    quat.j *= inv_len; \
-    quat.k *= inv_len; }
-
-#define QuaternionSet(res,I,J,K,R) { res.i=I; res.j=J; res.k=K; res.r=R; }
-
-#define AxisAngleOfQuaternion(res,q) { \
-    float len = sqrt(q.i*q.i + q.j*q.j + q.k*q.k); \
-    if (len > 0.0001) { \
-        float inv_len = 1.0f / len;  \
-        res.x = q.i * inv_len; \
-        res.y = q.j * inv_len; \
-        res.z = q.k * inv_len; \
-    } else { \
-        res.x=1.0f;  res.y=0.0f; res.z=0.0f; \
-    } \
-    res.theta = 2.0 * acos( q.r ); }
-
-#define QuaternionOfAxisAngle(res,aa) QuaternionSetAxisAngle(res, (aa).x, (aa).y, (aa).z, (aa).theta)
-
-#define QuaternionSetAxisAngle(res,x,y,z,theta) { \
-    float inv_lenXYZ = 1.0f / sqrt( (x)*(x) + (y)*(y) + (z)*(z) );       \
-    float cos_half_theta = cos( 0.5f*(theta) );     \
-    float sin_half_theta = sin( 0.5f*(theta) );     \
-    res.i = (x) * sin_half_theta * inv_lenXYZ; \
-    res.j = (y) * sin_half_theta * inv_lenXYZ; \
-    res.k = (z) * sin_half_theta * inv_lenXYZ; \
-    res.r =       cos_half_theta; }
-
-#define QuaternionIdentity(q) { q.i=0.0f; q.j=0.0f; q.k=0.0f; q.r=1.0f; }
-
-#define QuaternionInv(res,a) { \
-    res.i = -(a).i; \
-    res.j = -(a).j; \
-    res.k = -(a).k; \
-    res.r =  (a).r; }
-
-#define QuaternionMult(res,a,b) { \
-    res.i =  (a).i*(b).r + (a).j*(b).k - (a).k*(b).j + (a).r*(b).i; \
-    res.j = -(a).i*(b).k + (a).j*(b).r + (a).k*(b).i + (a).r*(b).j; \
-    res.k =  (a).i*(b).j - (a).j*(b).i + (a).k*(b).r + (a).r*(b).k; \
-    res.r = -(a).i*(b).i - (a).j*(b).j - (a).k*(b).k + (a).r*(b).r; }
-
-#define QuaternionSub(res,a,b) { \
-    res.i = (a).i - (b).i; \
-    res.j = (a).j - (b).j; \
-    res.k = (a).k - (b).k; \
-    res.r = (a).r - (b).r; }
-
-#define QuaternionAdd(res,a,b) { \
-    res.i = (a).i + (b).i; \
-    res.j = (a).j + (b).j; \
-    res.k = (a).k + (b).k; \
-    res.r = (a).r + (b).r; }
-
-#define QuaternionRot(res,q,p) { \
-    Quaternion q_inv,left;      \
-    QuaternionInv(q_inv,q);     \
-    QuaternionMult(left,q,p);   \
-    QuaternionMult(res,left,q_inv); }
-
-#define QuaternionSlerp(res,delta,u,v) { \
-    Quaternion rot,u_inv;        \
-    float theta,inv_s,scale;     \
-    QuaternionInv(u_inv,u);      \
-    QuaternionMult(rot,v,u_inv); \
-    if (rot.r < 0.998 && rot.r > -0.998) { \
-        theta  = acos(rot.r);        \
-        inv_s  = 1.0f / sin(theta);  \
-        theta *= delta;              \
-        scale  = inv_s * sin(theta); \
-        rot.i *= scale;              \
-        rot.j *= scale;              \
-        rot.k *= scale;              \
-        rot.r  = cos(theta);         \
-        QuaternionMult(res,rot,u);   \
-    } else {     \
-        res = u; \
-    } }
-
-/*
-#define QuaternionSlerp(res,delta,u,v) { \
-    Quaternion rot,u_inv;        \
-    float theta,inv_s,scale;     \
-    QuaternionInv(u_inv,u);      \
-    QuaternionMult(rot,v,u_inv); \
-    if (rot.r < 0.998) { \
-        printq2("slerp v",v); \
-        theta  = acos(rot.r);        \
-        inv_s  = 1.0f / sin(theta);  \
-        printf("slerp theta %f inv_s %f\n", theta, inv_s); \
-        theta *= delta;              \
-        scale  = inv_s * sin(theta); \
-        rot.i *= scale;              \
-        rot.j *= scale;              \
-        rot.k *= scale;              \
-        rot.r  = cos(theta);         \
-        QuaternionMult(res,rot,u);   \
-    } else {     \
-        res = u; \
-    } \
-    printq2("slerp res", res); }
-*/
-
-#define QuaternionBoneTransform(out,in,bone) {       \
-    Quaternion subtracted,rotated;              \
-    QuaternionSub(subtracted,in,bone.pos);      \
-    QuaternionRot(rotated,bone.rot,subtracted); \
-    QuaternionAdd(out,rotated,bone.pos); }
-
-#endif /* quaternion_h */