From 9ad1ec24d0fe27428fc52361eb04d1538012542c Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pse@pale.blue>
Date: Fri, 7 Mar 2025 14:48:03 +0100
Subject: [PATCH 1/2] Restructuring
---
.editorconfig | 19 -
.gitignore | 5 -
.gitlab-ci.yml | 26 -
.vscode/launch.json | 14 -
DoxyGen.meta | 8 -
DoxyGen/Doxyfile | 2861 -----------------
DoxyGen/Doxyfile.meta | 7 -
DoxyGen/DoxygenLayout.xml | 226 --
DoxyGen/DoxygenLayout.xml.meta | 7 -
DoxyGen/custom_doxygen.css | 12 -
DoxyGen/custom_doxygen.css.meta | 7 -
Examples/BB2B/BB2B.csproj | 11 -
Examples/BB2B/Program.cs | 35 -
README.md | 10 -
RoboidControl.sln | 39 -
Unity/DebugConsole.cs | 25 -
Unity/DistanceSensor.cs | 67 -
Unity/SiteServer.cs | 38 -
Unity/Thing.cs | 115 -
Unity/TouchSensor.cs | 87 -
src/Angle.cs | 110 +
src/{LinearAlgebra => }/Direction.cs | 0
src/Float.cs | 41 +
...oidControl.csproj => LinearAlgebra.csproj} | 2 +-
src/LinearAlgebra/Angle.cs | 11 -
src/LinearAlgebra/Vector2.cs | 51 -
src/LinearAlgebra/Vector3.cs | 33 -
src/LocalParticipant.cs | 353 --
src/{LinearAlgebra => }/Matrix.cs | 0
src/Messages/BinaryMsg.cs | 83 -
src/Messages/DestroyMsg.cs | 51 -
src/Messages/InvestigateMsg.cs | 46 -
src/Messages/LowLevelMessages.cs | 112 -
src/Messages/Messages.cs | 25 -
src/Messages/ModelUrlMsg.cs | 77 -
src/Messages/NameMsg.cs | 82 -
src/Messages/NetworkIdMsg.cs | 43 -
src/Messages/ParticipantMsg.cs | 53 -
src/Messages/PoseMsg.cs | 133 -
src/Messages/TextMsg.cs | 45 -
src/Messages/ThingMsg.cs | 90 -
src/Participant.cs | 84 -
src/{LinearAlgebra => }/Quat32.cs | 0
src/{LinearAlgebra => }/Quaternion.cs | 0
src/SiteServer.cs | 81 -
src/{LinearAlgebra => }/Spherical.cs | 0
src/{LinearAlgebra => }/SwingTwist.cs | 0
src/Thing.cs | 327 --
src/Things/DifferentialDrive.cs | 51 -
src/Things/DistanceSensor.cs | 44 -
src/Things/TemperatureSensor.cs | 33 -
src/Things/TouchSensor.cs | 61 -
src/TimeManger.cs | 22 -
src/Vector2.cs | 363 +++
src/Vector3.cs | 179 ++
src/{LinearAlgebra => }/float16.cs | 0
test/AngleTest.cs | 162 +
...{test.csproj => LinearAlgebra_Test.csproj} | 4 +-
test/UnitTest1.cs | 87 -
59 files changed, 858 insertions(+), 5700 deletions(-)
delete mode 100644 .editorconfig
delete mode 100644 .gitignore
delete mode 100644 .gitlab-ci.yml
delete mode 100644 .vscode/launch.json
delete mode 100644 DoxyGen.meta
delete mode 100644 DoxyGen/Doxyfile
delete mode 100644 DoxyGen/Doxyfile.meta
delete mode 100644 DoxyGen/DoxygenLayout.xml
delete mode 100644 DoxyGen/DoxygenLayout.xml.meta
delete mode 100644 DoxyGen/custom_doxygen.css
delete mode 100644 DoxyGen/custom_doxygen.css.meta
delete mode 100644 Examples/BB2B/BB2B.csproj
delete mode 100644 Examples/BB2B/Program.cs
delete mode 100644 README.md
delete mode 100644 RoboidControl.sln
delete mode 100644 Unity/DebugConsole.cs
delete mode 100644 Unity/DistanceSensor.cs
delete mode 100644 Unity/SiteServer.cs
delete mode 100644 Unity/Thing.cs
delete mode 100644 Unity/TouchSensor.cs
create mode 100644 src/Angle.cs
rename src/{LinearAlgebra => }/Direction.cs (100%)
create mode 100644 src/Float.cs
rename src/{RoboidControl.csproj => LinearAlgebra.csproj} (91%)
delete mode 100644 src/LinearAlgebra/Angle.cs
delete mode 100644 src/LinearAlgebra/Vector2.cs
delete mode 100644 src/LinearAlgebra/Vector3.cs
delete mode 100644 src/LocalParticipant.cs
rename src/{LinearAlgebra => }/Matrix.cs (100%)
delete mode 100644 src/Messages/BinaryMsg.cs
delete mode 100644 src/Messages/DestroyMsg.cs
delete mode 100644 src/Messages/InvestigateMsg.cs
delete mode 100644 src/Messages/LowLevelMessages.cs
delete mode 100644 src/Messages/Messages.cs
delete mode 100644 src/Messages/ModelUrlMsg.cs
delete mode 100644 src/Messages/NameMsg.cs
delete mode 100644 src/Messages/NetworkIdMsg.cs
delete mode 100644 src/Messages/ParticipantMsg.cs
delete mode 100644 src/Messages/PoseMsg.cs
delete mode 100644 src/Messages/TextMsg.cs
delete mode 100644 src/Messages/ThingMsg.cs
delete mode 100644 src/Participant.cs
rename src/{LinearAlgebra => }/Quat32.cs (100%)
rename src/{LinearAlgebra => }/Quaternion.cs (100%)
delete mode 100644 src/SiteServer.cs
rename src/{LinearAlgebra => }/Spherical.cs (100%)
rename src/{LinearAlgebra => }/SwingTwist.cs (100%)
delete mode 100644 src/Thing.cs
delete mode 100644 src/Things/DifferentialDrive.cs
delete mode 100644 src/Things/DistanceSensor.cs
delete mode 100644 src/Things/TemperatureSensor.cs
delete mode 100644 src/Things/TouchSensor.cs
delete mode 100644 src/TimeManger.cs
create mode 100644 src/Vector2.cs
create mode 100644 src/Vector3.cs
rename src/{LinearAlgebra => }/float16.cs (100%)
create mode 100644 test/AngleTest.cs
rename test/{test.csproj => LinearAlgebra_Test.csproj} (81%)
delete mode 100644 test/UnitTest1.cs
diff --git a/.editorconfig b/.editorconfig
deleted file mode 100644
index 1ec7f97..0000000
--- a/.editorconfig
+++ /dev/null
@@ -1,19 +0,0 @@
-# EditorConfig is awesome: https://EditorConfig.org
-
-# top-most EditorConfig file
-root = true
-
-[*]
-indent_style = space
-indent_size = 4
-end_of_line = crlf
-charset = utf-8
-trim_trailing_whitespace = false
-insert_final_newline = false
-max_line_length = 80
-
-[*.cs]
-csharp_new_line_before_open_brace = none
-# Suppress warnings everywhere
-dotnet_diagnostic.IDE1006.severity = none
-dotnet_diagnostic.IDE0130.severity = none
\ No newline at end of file
diff --git a/.gitignore b/.gitignore
deleted file mode 100644
index 3a21083..0000000
--- a/.gitignore
+++ /dev/null
@@ -1,5 +0,0 @@
-DoxyGen/DoxyWarnLogfile.txt
-.vscode/settings.json
-**bin
-**obj
-**.meta
\ No newline at end of file
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
deleted file mode 100644
index e1ab762..0000000
--- a/.gitlab-ci.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-# You can override the included template(s) by including variable overrides
-# SAST customization: https://docs.gitlab.com/ee/user/application_security/sast/#customizing-the-sast-settings
-# Secret Detection customization: https://docs.gitlab.com/ee/user/application_security/secret_detection/pipeline/#customization
-# Dependency Scanning customization: https://docs.gitlab.com/ee/user/application_security/dependency_scanning/#customizing-the-dependency-scanning-settings
-# Container Scanning customization: https://docs.gitlab.com/ee/user/application_security/container_scanning/#customizing-the-container-scanning-settings
-# Note that environment variables can be set in several places
-# See https://docs.gitlab.com/ee/ci/variables/#cicd-variable-precedence
-stages:
-- build
-- test
-- deploy
-- review
-- dast
-- staging
-- canary
-- production
-- incremental rollout 10%
-- incremental rollout 25%
-- incremental rollout 50%
-- incremental rollout 100%
-- performance
-- cleanup
-sast:
- stage: test
-include:
-- template: Auto-DevOps.gitlab-ci.yml
diff --git a/.vscode/launch.json b/.vscode/launch.json
deleted file mode 100644
index ee82cc1..0000000
--- a/.vscode/launch.json
+++ /dev/null
@@ -1,14 +0,0 @@
-{
- // Use IntelliSense to learn about possible attributes.
- // Hover to view descriptions of existing attributes.
- // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
- "version": "0.2.0",
- "configurations": [
- {
- "name": "C#: BB2B Debug",
- "type": "dotnet",
- "request": "launch",
- "projectPath": "${workspaceFolder}/Examples/BB2B/BB2B.csproj"
- }
- ]
-}
\ No newline at end of file
diff --git a/DoxyGen.meta b/DoxyGen.meta
deleted file mode 100644
index e2b31f0..0000000
--- a/DoxyGen.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: 1989654e8505b074d9a0280de8649b7d
-folderAsset: yes
-DefaultImporter:
- externalObjects: {}
- userData:
- assetBundleName:
- assetBundleVariant:
diff --git a/DoxyGen/Doxyfile b/DoxyGen/Doxyfile
deleted file mode 100644
index ae7a013..0000000
--- a/DoxyGen/Doxyfile
+++ /dev/null
@@ -1,2861 +0,0 @@
-# Doxyfile 1.9.8
-
-# This file describes the settings to be used by the documentation system
-# doxygen (www.doxygen.org) for a project.
-#
-# All text after a double hash (##) is considered a comment and is placed in
-# front of the TAG it is preceding.
-#
-# All text after a single hash (#) is considered a comment and will be ignored.
-# The format is:
-# TAG = value [value, ...]
-# For lists, items can also be appended using:
-# TAG += value [value, ...]
-# Values that contain spaces should be placed between quotes (\" \").
-#
-# Note:
-#
-# Use doxygen to compare the used configuration file with the template
-# configuration file:
-# doxygen -x [configFile]
-# Use doxygen to compare the used configuration file with the template
-# configuration file without replacing the environment variables or CMake type
-# replacement variables:
-# doxygen -x_noenv [configFile]
-
-#---------------------------------------------------------------------------
-# Project related configuration options
-#---------------------------------------------------------------------------
-
-# This tag specifies the encoding used for all characters in the configuration
-# file that follow. The default is UTF-8 which is also the encoding used for all
-# text before the first occurrence of this tag. Doxygen uses libiconv (or the
-# iconv built into libc) for the transcoding. See
-# https://www.gnu.org/software/libiconv/ for the list of possible encodings.
-# The default value is: UTF-8.
-
-DOXYFILE_ENCODING = UTF-8
-
-# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by
-# double-quotes, unless you are using Doxywizard) that should identify the
-# project for which the documentation is generated. This name is used in the
-# title of most generated pages and in a few other places.
-# The default value is: My Project.
-
-PROJECT_NAME = "Roboid Control for C#"
-
-# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
-# could be handy for archiving the generated documentation or if some version
-# control system is used.
-
-PROJECT_NUMBER =
-
-# Using the PROJECT_BRIEF tag one can provide an optional one line description
-# for a project that appears at the top of each page and should give viewer a
-# quick idea about the purpose of the project. Keep the description short.
-
-PROJECT_BRIEF =
-
-# With the PROJECT_LOGO tag one can specify a logo or an icon that is included
-# in the documentation. The maximum height of the logo should not exceed 55
-# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
-# the logo to the output directory.
-
-PROJECT_LOGO = //intranet/home/Afbeeldingen/PasserVR/Logos/PasserLife/PasserLifeLogoLeft_300.png
-
-# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
-# into which the generated documentation will be written. If a relative path is
-# entered, it will be relative to the location where doxygen was started. If
-# left blank the current directory will be used.
-
-OUTPUT_DIRECTORY = //intranet/web/roboidcontrol_doc/Csharp/
-
-# If the CREATE_SUBDIRS tag is set to YES then doxygen will create up to 4096
-# sub-directories (in 2 levels) under the output directory of each output format
-# and will distribute the generated files over these directories. Enabling this
-# option can be useful when feeding doxygen a huge amount of source files, where
-# putting all generated files in the same directory would otherwise causes
-# performance problems for the file system. Adapt CREATE_SUBDIRS_LEVEL to
-# control the number of sub-directories.
-# The default value is: NO.
-
-CREATE_SUBDIRS = NO
-
-# Controls the number of sub-directories that will be created when
-# CREATE_SUBDIRS tag is set to YES. Level 0 represents 16 directories, and every
-# level increment doubles the number of directories, resulting in 4096
-# directories at level 8 which is the default and also the maximum value. The
-# sub-directories are organized in 2 levels, the first level always has a fixed
-# number of 16 directories.
-# Minimum value: 0, maximum value: 8, default value: 8.
-# This tag requires that the tag CREATE_SUBDIRS is set to YES.
-
-CREATE_SUBDIRS_LEVEL = 8
-
-# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII
-# characters to appear in the names of generated files. If set to NO, non-ASCII
-# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode
-# U+3044.
-# The default value is: NO.
-
-ALLOW_UNICODE_NAMES = NO
-
-# The OUTPUT_LANGUAGE tag is used to specify the language in which all
-# documentation generated by doxygen is written. Doxygen will use this
-# information to generate all constant output in the proper language.
-# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Bulgarian,
-# Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, Dutch, English
-# (United States), Esperanto, Farsi (Persian), Finnish, French, German, Greek,
-# Hindi, Hungarian, Indonesian, Italian, Japanese, Japanese-en (Japanese with
-# English messages), Korean, Korean-en (Korean with English messages), Latvian,
-# Lithuanian, Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese,
-# Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish,
-# Swedish, Turkish, Ukrainian and Vietnamese.
-# The default value is: English.
-
-OUTPUT_LANGUAGE = English
-
-# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member
-# descriptions after the members that are listed in the file and class
-# documentation (similar to Javadoc). Set to NO to disable this.
-# The default value is: YES.
-
-BRIEF_MEMBER_DESC = YES
-
-# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief
-# description of a member or function before the detailed description
-#
-# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
-# brief descriptions will be completely suppressed.
-# The default value is: YES.
-
-REPEAT_BRIEF = YES
-
-# This tag implements a quasi-intelligent brief description abbreviator that is
-# used to form the text in various listings. Each string in this list, if found
-# as the leading text of the brief description, will be stripped from the text
-# and the result, after processing the whole list, is used as the annotated
-# text. Otherwise, the brief description is used as-is. If left blank, the
-# following values are used ($name is automatically replaced with the name of
-# the entity):The $name class, The $name widget, The $name file, is, provides,
-# specifies, contains, represents, a, an and the.
-
-ABBREVIATE_BRIEF = "The $name class" \
- "The $name widget" \
- "The $name file" \
- is \
- provides \
- specifies \
- contains \
- represents \
- a \
- an \
- the
-
-# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
-# doxygen will generate a detailed section even if there is only a brief
-# description.
-# The default value is: NO.
-
-ALWAYS_DETAILED_SEC = NO
-
-# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
-# inherited members of a class in the documentation of that class as if those
-# members were ordinary class members. Constructors, destructors and assignment
-# operators of the base classes will not be shown.
-# The default value is: NO.
-
-INLINE_INHERITED_MEMB = YES
-
-# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path
-# before files name in the file list and in the header files. If set to NO the
-# shortest path that makes the file name unique will be used
-# The default value is: YES.
-
-FULL_PATH_NAMES = YES
-
-# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path.
-# Stripping is only done if one of the specified strings matches the left-hand
-# part of the path. The tag can be used to show relative paths in the file list.
-# If left blank the directory from which doxygen is run is used as the path to
-# strip.
-#
-# Note that you can specify absolute paths here, but also relative paths, which
-# will be relative from the directory where doxygen is started.
-# This tag requires that the tag FULL_PATH_NAMES is set to YES.
-
-STRIP_FROM_PATH =
-
-# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the
-# path mentioned in the documentation of a class, which tells the reader which
-# header file to include in order to use a class. If left blank only the name of
-# the header file containing the class definition is used. Otherwise one should
-# specify the list of include paths that are normally passed to the compiler
-# using the -I flag.
-
-STRIP_FROM_INC_PATH =
-
-# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but
-# less readable) file names. This can be useful is your file systems doesn't
-# support long names like on DOS, Mac, or CD-ROM.
-# The default value is: NO.
-
-SHORT_NAMES = NO
-
-# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the
-# first line (until the first dot) of a Javadoc-style comment as the brief
-# description. If set to NO, the Javadoc-style will behave just like regular Qt-
-# style comments (thus requiring an explicit @brief command for a brief
-# description.)
-# The default value is: NO.
-
-JAVADOC_AUTOBRIEF = NO
-
-# If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line
-# such as
-# /***************
-# as being the beginning of a Javadoc-style comment "banner". If set to NO, the
-# Javadoc-style will behave just like regular comments and it will not be
-# interpreted by doxygen.
-# The default value is: NO.
-
-JAVADOC_BANNER = NO
-
-# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first
-# line (until the first dot) of a Qt-style comment as the brief description. If
-# set to NO, the Qt-style will behave just like regular Qt-style comments (thus
-# requiring an explicit \brief command for a brief description.)
-# The default value is: NO.
-
-QT_AUTOBRIEF = NO
-
-# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a
-# multi-line C++ special comment block (i.e. a block of //! or /// comments) as
-# a brief description. This used to be the default behavior. The new default is
-# to treat a multi-line C++ comment block as a detailed description. Set this
-# tag to YES if you prefer the old behavior instead.
-#
-# Note that setting this tag to YES also means that rational rose comments are
-# not recognized any more.
-# The default value is: NO.
-
-MULTILINE_CPP_IS_BRIEF = NO
-
-# By default Python docstrings are displayed as preformatted text and doxygen's
-# special commands cannot be used. By setting PYTHON_DOCSTRING to NO the
-# doxygen's special commands can be used and the contents of the docstring
-# documentation blocks is shown as doxygen documentation.
-# The default value is: YES.
-
-PYTHON_DOCSTRING = YES
-
-# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the
-# documentation from any documented member that it re-implements.
-# The default value is: YES.
-
-INHERIT_DOCS = YES
-
-# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new
-# page for each member. If set to NO, the documentation of a member will be part
-# of the file/class/namespace that contains it.
-# The default value is: NO.
-
-SEPARATE_MEMBER_PAGES = NO
-
-# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen
-# uses this value to replace tabs by spaces in code fragments.
-# Minimum value: 1, maximum value: 16, default value: 4.
-
-TAB_SIZE = 4
-
-# This tag can be used to specify a number of aliases that act as commands in
-# the documentation. An alias has the form:
-# name=value
-# For example adding
-# "sideeffect=@par Side Effects:^^"
-# will allow you to put the command \sideeffect (or @sideeffect) in the
-# documentation, which will result in a user-defined paragraph with heading
-# "Side Effects:". Note that you cannot put \n's in the value part of an alias
-# to insert newlines (in the resulting output). You can put ^^ in the value part
-# of an alias to insert a newline as if a physical newline was in the original
-# file. When you need a literal { or } or , in the value part of an alias you
-# have to escape them by means of a backslash (\), this can lead to conflicts
-# with the commands \{ and \} for these it is advised to use the version @{ and
-# @} or use a double escape (\\{ and \\})
-
-ALIASES =
-
-# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
-# only. Doxygen will then generate output that is more tailored for C. For
-# instance, some of the names that are used will be different. The list of all
-# members will be omitted, etc.
-# The default value is: NO.
-
-OPTIMIZE_OUTPUT_FOR_C = NO
-
-# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or
-# Python sources only. Doxygen will then generate output that is more tailored
-# for that language. For instance, namespaces will be presented as packages,
-# qualified scopes will look different, etc.
-# The default value is: NO.
-
-OPTIMIZE_OUTPUT_JAVA = YES
-
-# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
-# sources. Doxygen will then generate output that is tailored for Fortran.
-# The default value is: NO.
-
-OPTIMIZE_FOR_FORTRAN = NO
-
-# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
-# sources. Doxygen will then generate output that is tailored for VHDL.
-# The default value is: NO.
-
-OPTIMIZE_OUTPUT_VHDL = NO
-
-# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice
-# sources only. Doxygen will then generate output that is more tailored for that
-# language. For instance, namespaces will be presented as modules, types will be
-# separated into more groups, etc.
-# The default value is: NO.
-
-OPTIMIZE_OUTPUT_SLICE = NO
-
-# Doxygen selects the parser to use depending on the extension of the files it
-# parses. With this tag you can assign which parser to use for a given
-# extension. Doxygen has a built-in mapping, but you can override or extend it
-# using this tag. The format is ext=language, where ext is a file extension, and
-# language is one of the parsers supported by doxygen: IDL, Java, JavaScript,
-# Csharp (C#), C, C++, Lex, D, PHP, md (Markdown), Objective-C, Python, Slice,
-# VHDL, Fortran (fixed format Fortran: FortranFixed, free formatted Fortran:
-# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser
-# tries to guess whether the code is fixed or free formatted code, this is the
-# default for Fortran type files). For instance to make doxygen treat .inc files
-# as Fortran files (default is PHP), and .f files as C (default is Fortran),
-# use: inc=Fortran f=C.
-#
-# Note: For files without extension you can use no_extension as a placeholder.
-#
-# Note that for custom extensions you also need to set FILE_PATTERNS otherwise
-# the files are not read by doxygen. When specifying no_extension you should add
-# * to the FILE_PATTERNS.
-#
-# Note see also the list of default file extension mappings.
-
-EXTENSION_MAPPING =
-
-# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments
-# according to the Markdown format, which allows for more readable
-# documentation. See https://daringfireball.net/projects/markdown/ for details.
-# The output of markdown processing is further processed by doxygen, so you can
-# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in
-# case of backward compatibilities issues.
-# The default value is: YES.
-
-MARKDOWN_SUPPORT = YES
-
-# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up
-# to that level are automatically included in the table of contents, even if
-# they do not have an id attribute.
-# Note: This feature currently applies only to Markdown headings.
-# Minimum value: 0, maximum value: 99, default value: 5.
-# This tag requires that the tag MARKDOWN_SUPPORT is set to YES.
-
-TOC_INCLUDE_HEADINGS = 0
-
-# The MARKDOWN_ID_STYLE tag can be used to specify the algorithm used to
-# generate identifiers for the Markdown headings. Note: Every identifier is
-# unique.
-# Possible values are: DOXYGEN use a fixed 'autotoc_md' string followed by a
-# sequence number starting at 0 and GITHUB use the lower case version of title
-# with any whitespace replaced by '-' and punctuation characters removed.
-# The default value is: DOXYGEN.
-# This tag requires that the tag MARKDOWN_SUPPORT is set to YES.
-
-MARKDOWN_ID_STYLE = DOXYGEN
-
-# When enabled doxygen tries to link words that correspond to documented
-# classes, or namespaces to their corresponding documentation. Such a link can
-# be prevented in individual cases by putting a % sign in front of the word or
-# globally by setting AUTOLINK_SUPPORT to NO.
-# The default value is: YES.
-
-AUTOLINK_SUPPORT = YES
-
-# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
-# to include (a tag file for) the STL sources as input, then you should set this
-# tag to YES in order to let doxygen match functions declarations and
-# definitions whose arguments contain STL classes (e.g. func(std::string);
-# versus func(std::string) {}). This also make the inheritance and collaboration
-# diagrams that involve STL classes more complete and accurate.
-# The default value is: NO.
-
-BUILTIN_STL_SUPPORT = NO
-
-# If you use Microsoft's C++/CLI language, you should set this option to YES to
-# enable parsing support.
-# The default value is: NO.
-
-CPP_CLI_SUPPORT = NO
-
-# Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
-# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen
-# will parse them like normal C++ but will assume all classes use public instead
-# of private inheritance when no explicit protection keyword is present.
-# The default value is: NO.
-
-SIP_SUPPORT = NO
-
-# For Microsoft's IDL there are propget and propput attributes to indicate
-# getter and setter methods for a property. Setting this option to YES will make
-# doxygen to replace the get and set methods by a property in the documentation.
-# This will only work if the methods are indeed getting or setting a simple
-# type. If this is not the case, or you want to show the methods anyway, you
-# should set this option to NO.
-# The default value is: YES.
-
-IDL_PROPERTY_SUPPORT = YES
-
-# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
-# tag is set to YES then doxygen will reuse the documentation of the first
-# member in the group (if any) for the other members of the group. By default
-# all members of a group must be documented explicitly.
-# The default value is: NO.
-
-DISTRIBUTE_GROUP_DOC = NO
-
-# If one adds a struct or class to a group and this option is enabled, then also
-# any nested class or struct is added to the same group. By default this option
-# is disabled and one has to add nested compounds explicitly via \ingroup.
-# The default value is: NO.
-
-GROUP_NESTED_COMPOUNDS = NO
-
-# Set the SUBGROUPING tag to YES to allow class member groups of the same type
-# (for instance a group of public functions) to be put as a subgroup of that
-# type (e.g. under the Public Functions section). Set it to NO to prevent
-# subgrouping. Alternatively, this can be done per class using the
-# \nosubgrouping command.
-# The default value is: YES.
-
-SUBGROUPING = YES
-
-# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions
-# are shown inside the group in which they are included (e.g. using \ingroup)
-# instead of on a separate page (for HTML and Man pages) or section (for LaTeX
-# and RTF).
-#
-# Note that this feature does not work in combination with
-# SEPARATE_MEMBER_PAGES.
-# The default value is: NO.
-
-INLINE_GROUPED_CLASSES = NO
-
-# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions
-# with only public data fields or simple typedef fields will be shown inline in
-# the documentation of the scope in which they are defined (i.e. file,
-# namespace, or group documentation), provided this scope is documented. If set
-# to NO, structs, classes, and unions are shown on a separate page (for HTML and
-# Man pages) or section (for LaTeX and RTF).
-# The default value is: NO.
-
-INLINE_SIMPLE_STRUCTS = NO
-
-# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or
-# enum is documented as struct, union, or enum with the name of the typedef. So
-# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
-# with name TypeT. When disabled the typedef will appear as a member of a file,
-# namespace, or class. And the struct will be named TypeS. This can typically be
-# useful for C code in case the coding convention dictates that all compound
-# types are typedef'ed and only the typedef is referenced, never the tag name.
-# The default value is: NO.
-
-TYPEDEF_HIDES_STRUCT = NO
-
-# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This
-# cache is used to resolve symbols given their name and scope. Since this can be
-# an expensive process and often the same symbol appears multiple times in the
-# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small
-# doxygen will become slower. If the cache is too large, memory is wasted. The
-# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range
-# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536
-# symbols. At the end of a run doxygen will report the cache usage and suggest
-# the optimal cache size from a speed point of view.
-# Minimum value: 0, maximum value: 9, default value: 0.
-
-LOOKUP_CACHE_SIZE = 0
-
-# The NUM_PROC_THREADS specifies the number of threads doxygen is allowed to use
-# during processing. When set to 0 doxygen will based this on the number of
-# cores available in the system. You can set it explicitly to a value larger
-# than 0 to get more control over the balance between CPU load and processing
-# speed. At this moment only the input processing can be done using multiple
-# threads. Since this is still an experimental feature the default is set to 1,
-# which effectively disables parallel processing. Please report any issues you
-# encounter. Generating dot graphs in parallel is controlled by the
-# DOT_NUM_THREADS setting.
-# Minimum value: 0, maximum value: 32, default value: 1.
-
-NUM_PROC_THREADS = 1
-
-# If the TIMESTAMP tag is set different from NO then each generated page will
-# contain the date or date and time when the page was generated. Setting this to
-# NO can help when comparing the output of multiple runs.
-# Possible values are: YES, NO, DATETIME and DATE.
-# The default value is: NO.
-
-TIMESTAMP = NO
-
-#---------------------------------------------------------------------------
-# Build related configuration options
-#---------------------------------------------------------------------------
-
-# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in
-# documentation are documented, even if no documentation was available. Private
-# class members and static file members will be hidden unless the
-# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES.
-# Note: This will also disable the warnings about undocumented members that are
-# normally produced when WARNINGS is set to YES.
-# The default value is: NO.
-
-EXTRACT_ALL = NO
-
-# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
-# be included in the documentation.
-# The default value is: NO.
-
-EXTRACT_PRIVATE = NO
-
-# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual
-# methods of a class will be included in the documentation.
-# The default value is: NO.
-
-EXTRACT_PRIV_VIRTUAL = NO
-
-# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
-# scope will be included in the documentation.
-# The default value is: NO.
-
-EXTRACT_PACKAGE = NO
-
-# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be
-# included in the documentation.
-# The default value is: NO.
-
-EXTRACT_STATIC = YES
-
-# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
-# locally in source files will be included in the documentation. If set to NO,
-# only classes defined in header files are included. Does not have any effect
-# for Java sources.
-# The default value is: YES.
-
-EXTRACT_LOCAL_CLASSES = YES
-
-# This flag is only useful for Objective-C code. If set to YES, local methods,
-# which are defined in the implementation section but not in the interface are
-# included in the documentation. If set to NO, only methods in the interface are
-# included.
-# The default value is: NO.
-
-EXTRACT_LOCAL_METHODS = NO
-
-# If this flag is set to YES, the members of anonymous namespaces will be
-# extracted and appear in the documentation as a namespace called
-# 'anonymous_namespace{file}', where file will be replaced with the base name of
-# the file that contains the anonymous namespace. By default anonymous namespace
-# are hidden.
-# The default value is: NO.
-
-EXTRACT_ANON_NSPACES = NO
-
-# If this flag is set to YES, the name of an unnamed parameter in a declaration
-# will be determined by the corresponding definition. By default unnamed
-# parameters remain unnamed in the output.
-# The default value is: YES.
-
-RESOLVE_UNNAMED_PARAMS = YES
-
-# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
-# undocumented members inside documented classes or files. If set to NO these
-# members will be included in the various overviews, but no documentation
-# section is generated. This option has no effect if EXTRACT_ALL is enabled.
-# The default value is: NO.
-
-HIDE_UNDOC_MEMBERS = NO
-
-# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
-# undocumented classes that are normally visible in the class hierarchy. If set
-# to NO, these classes will be included in the various overviews. This option
-# will also hide undocumented C++ concepts if enabled. This option has no effect
-# if EXTRACT_ALL is enabled.
-# The default value is: NO.
-
-HIDE_UNDOC_CLASSES = YES
-
-# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
-# declarations. If set to NO, these declarations will be included in the
-# documentation.
-# The default value is: NO.
-
-HIDE_FRIEND_COMPOUNDS = NO
-
-# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any
-# documentation blocks found inside the body of a function. If set to NO, these
-# blocks will be appended to the function's detailed documentation block.
-# The default value is: NO.
-
-HIDE_IN_BODY_DOCS = YES
-
-# The INTERNAL_DOCS tag determines if documentation that is typed after a
-# \internal command is included. If the tag is set to NO then the documentation
-# will be excluded. Set it to YES to include the internal documentation.
-# The default value is: NO.
-
-INTERNAL_DOCS = NO
-
-# With the correct setting of option CASE_SENSE_NAMES doxygen will better be
-# able to match the capabilities of the underlying filesystem. In case the
-# filesystem is case sensitive (i.e. it supports files in the same directory
-# whose names only differ in casing), the option must be set to YES to properly
-# deal with such files in case they appear in the input. For filesystems that
-# are not case sensitive the option should be set to NO to properly deal with
-# output files written for symbols that only differ in casing, such as for two
-# classes, one named CLASS and the other named Class, and to also support
-# references to files without having to specify the exact matching casing. On
-# Windows (including Cygwin) and MacOS, users should typically set this option
-# to NO, whereas on Linux or other Unix flavors it should typically be set to
-# YES.
-# Possible values are: SYSTEM, NO and YES.
-# The default value is: SYSTEM.
-
-CASE_SENSE_NAMES = NO
-
-# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
-# their full class and namespace scopes in the documentation. If set to YES, the
-# scope will be hidden.
-# The default value is: NO.
-
-HIDE_SCOPE_NAMES = NO
-
-# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will
-# append additional text to a page's title, such as Class Reference. If set to
-# YES the compound reference will be hidden.
-# The default value is: NO.
-
-HIDE_COMPOUND_REFERENCE= NO
-
-# If the SHOW_HEADERFILE tag is set to YES then the documentation for a class
-# will show which file needs to be included to use the class.
-# The default value is: YES.
-
-SHOW_HEADERFILE = YES
-
-# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
-# the files that are included by a file in the documentation of that file.
-# The default value is: YES.
-
-SHOW_INCLUDE_FILES = YES
-
-# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each
-# grouped member an include statement to the documentation, telling the reader
-# which file to include in order to use the member.
-# The default value is: NO.
-
-SHOW_GROUPED_MEMB_INC = NO
-
-# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include
-# files with double quotes in the documentation rather than with sharp brackets.
-# The default value is: NO.
-
-FORCE_LOCAL_INCLUDES = NO
-
-# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the
-# documentation for inline members.
-# The default value is: YES.
-
-INLINE_INFO = YES
-
-# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the
-# (detailed) documentation of file and class members alphabetically by member
-# name. If set to NO, the members will appear in declaration order.
-# The default value is: YES.
-
-SORT_MEMBER_DOCS = NO
-
-# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
-# descriptions of file, namespace and class members alphabetically by member
-# name. If set to NO, the members will appear in declaration order. Note that
-# this will also influence the order of the classes in the class list.
-# The default value is: NO.
-
-SORT_BRIEF_DOCS = NO
-
-# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the
-# (brief and detailed) documentation of class members so that constructors and
-# destructors are listed first. If set to NO the constructors will appear in the
-# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS.
-# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief
-# member documentation.
-# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting
-# detailed member documentation.
-# The default value is: NO.
-
-SORT_MEMBERS_CTORS_1ST = NO
-
-# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy
-# of group names into alphabetical order. If set to NO the group names will
-# appear in their defined order.
-# The default value is: NO.
-
-SORT_GROUP_NAMES = NO
-
-# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by
-# fully-qualified names, including namespaces. If set to NO, the class list will
-# be sorted only by class name, not including the namespace part.
-# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
-# Note: This option applies only to the class list, not to the alphabetical
-# list.
-# The default value is: NO.
-
-SORT_BY_SCOPE_NAME = NO
-
-# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper
-# type resolution of all parameters of a function it will reject a match between
-# the prototype and the implementation of a member function even if there is
-# only one candidate or it is obvious which candidate to choose by doing a
-# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still
-# accept a match between prototype and implementation in such cases.
-# The default value is: NO.
-
-STRICT_PROTO_MATCHING = NO
-
-# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo
-# list. This list is created by putting \todo commands in the documentation.
-# The default value is: YES.
-
-GENERATE_TODOLIST = YES
-
-# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test
-# list. This list is created by putting \test commands in the documentation.
-# The default value is: YES.
-
-GENERATE_TESTLIST = YES
-
-# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug
-# list. This list is created by putting \bug commands in the documentation.
-# The default value is: YES.
-
-GENERATE_BUGLIST = YES
-
-# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO)
-# the deprecated list. This list is created by putting \deprecated commands in
-# the documentation.
-# The default value is: YES.
-
-GENERATE_DEPRECATEDLIST= YES
-
-# The ENABLED_SECTIONS tag can be used to enable conditional documentation
-# sections, marked by \if <section_label> ... \endif and \cond <section_label>
-# ... \endcond blocks.
-
-ENABLED_SECTIONS =
-
-# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the
-# initial value of a variable or macro / define can have for it to appear in the
-# documentation. If the initializer consists of more lines than specified here
-# it will be hidden. Use a value of 0 to hide initializers completely. The
-# appearance of the value of individual variables and macros / defines can be
-# controlled using \showinitializer or \hideinitializer command in the
-# documentation regardless of this setting.
-# Minimum value: 0, maximum value: 10000, default value: 30.
-
-MAX_INITIALIZER_LINES = 30
-
-# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at
-# the bottom of the documentation of classes and structs. If set to YES, the
-# list will mention the files that were used to generate the documentation.
-# The default value is: YES.
-
-SHOW_USED_FILES = NO
-
-# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This
-# will remove the Files entry from the Quick Index and from the Folder Tree View
-# (if specified).
-# The default value is: YES.
-
-SHOW_FILES = NO
-
-# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces
-# page. This will remove the Namespaces entry from the Quick Index and from the
-# Folder Tree View (if specified).
-# The default value is: YES.
-
-SHOW_NAMESPACES = NO
-
-# The FILE_VERSION_FILTER tag can be used to specify a program or script that
-# doxygen should invoke to get the current version for each file (typically from
-# the version control system). Doxygen will invoke the program by executing (via
-# popen()) the command command input-file, where command is the value of the
-# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided
-# by doxygen. Whatever the program writes to standard output is used as the file
-# version. For an example see the documentation.
-
-FILE_VERSION_FILTER =
-
-# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
-# by doxygen. The layout file controls the global structure of the generated
-# output files in an output format independent way. To create the layout file
-# that represents doxygen's defaults, run doxygen with the -l option. You can
-# optionally specify a file name after the option, if omitted DoxygenLayout.xml
-# will be used as the name of the layout file. See also section "Changing the
-# layout of pages" for information.
-#
-# Note that if you run doxygen from a directory containing a file called
-# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
-# tag is left empty.
-
-LAYOUT_FILE =
-
-# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
-# the reference definitions. This must be a list of .bib files. The .bib
-# extension is automatically appended if omitted. This requires the bibtex tool
-# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info.
-# For LaTeX the style of the bibliography can be controlled using
-# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
-# search path. See also \cite for info how to create references.
-
-CITE_BIB_FILES =
-
-#---------------------------------------------------------------------------
-# Configuration options related to warning and progress messages
-#---------------------------------------------------------------------------
-
-# The QUIET tag can be used to turn on/off the messages that are generated to
-# standard output by doxygen. If QUIET is set to YES this implies that the
-# messages are off.
-# The default value is: NO.
-
-QUIET = NO
-
-# The WARNINGS tag can be used to turn on/off the warning messages that are
-# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES
-# this implies that the warnings are on.
-#
-# Tip: Turn warnings on while writing the documentation.
-# The default value is: YES.
-
-WARNINGS = YES
-
-# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate
-# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag
-# will automatically be disabled.
-# The default value is: YES.
-
-WARN_IF_UNDOCUMENTED = YES
-
-# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for
-# potential errors in the documentation, such as documenting some parameters in
-# a documented function twice, or documenting parameters that don't exist or
-# using markup commands wrongly.
-# The default value is: YES.
-
-WARN_IF_DOC_ERROR = YES
-
-# If WARN_IF_INCOMPLETE_DOC is set to YES, doxygen will warn about incomplete
-# function parameter documentation. If set to NO, doxygen will accept that some
-# parameters have no documentation without warning.
-# The default value is: YES.
-
-WARN_IF_INCOMPLETE_DOC = YES
-
-# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
-# are documented, but have no documentation for their parameters or return
-# value. If set to NO, doxygen will only warn about wrong parameter
-# documentation, but not about the absence of documentation. If EXTRACT_ALL is
-# set to YES then this flag will automatically be disabled. See also
-# WARN_IF_INCOMPLETE_DOC
-# The default value is: NO.
-
-WARN_NO_PARAMDOC = NO
-
-# If WARN_IF_UNDOC_ENUM_VAL option is set to YES, doxygen will warn about
-# undocumented enumeration values. If set to NO, doxygen will accept
-# undocumented enumeration values. If EXTRACT_ALL is set to YES then this flag
-# will automatically be disabled.
-# The default value is: NO.
-
-WARN_IF_UNDOC_ENUM_VAL = NO
-
-# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
-# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS
-# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but
-# at the end of the doxygen process doxygen will return with a non-zero status.
-# If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS_PRINT then doxygen behaves
-# like FAIL_ON_WARNINGS but in case no WARN_LOGFILE is defined doxygen will not
-# write the warning messages in between other messages but write them at the end
-# of a run, in case a WARN_LOGFILE is defined the warning messages will be
-# besides being in the defined file also be shown at the end of a run, unless
-# the WARN_LOGFILE is defined as - i.e. standard output (stdout) in that case
-# the behavior will remain as with the setting FAIL_ON_WARNINGS.
-# Possible values are: NO, YES, FAIL_ON_WARNINGS and FAIL_ON_WARNINGS_PRINT.
-# The default value is: NO.
-
-WARN_AS_ERROR = NO
-
-# The WARN_FORMAT tag determines the format of the warning messages that doxygen
-# can produce. The string should contain the $file, $line, and $text tags, which
-# will be replaced by the file and line number from which the warning originated
-# and the warning text. Optionally the format may contain $version, which will
-# be replaced by the version of the file (if it could be obtained via
-# FILE_VERSION_FILTER)
-# See also: WARN_LINE_FORMAT
-# The default value is: $file:$line: $text.
-
-WARN_FORMAT = "$file:$line: $text"
-
-# In the $text part of the WARN_FORMAT command it is possible that a reference
-# to a more specific place is given. To make it easier to jump to this place
-# (outside of doxygen) the user can define a custom "cut" / "paste" string.
-# Example:
-# WARN_LINE_FORMAT = "'vi $file +$line'"
-# See also: WARN_FORMAT
-# The default value is: at line $line of file $file.
-
-WARN_LINE_FORMAT = "at line $line of file $file"
-
-# The WARN_LOGFILE tag can be used to specify a file to which warning and error
-# messages should be written. If left blank the output is written to standard
-# error (stderr). In case the file specified cannot be opened for writing the
-# warning and error messages are written to standard error. When as file - is
-# specified the warning and error messages are written to standard output
-# (stdout).
-
-WARN_LOGFILE = DoxyWarnLogfile.txt
-
-#---------------------------------------------------------------------------
-# Configuration options related to the input files
-#---------------------------------------------------------------------------
-
-# The INPUT tag is used to specify the files and/or directories that contain
-# documented source files. You may enter file names like myfile.cpp or
-# directories like /usr/src/myproject. Separate the files or directories with
-# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
-# Note: If this tag is empty the current directory is searched.
-
-INPUT = .. \
- ../README.md
-
-# This tag can be used to specify the character encoding of the source files
-# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
-# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
-# documentation (see:
-# https://www.gnu.org/software/libiconv/) for the list of possible encodings.
-# See also: INPUT_FILE_ENCODING
-# The default value is: UTF-8.
-
-INPUT_ENCODING = UTF-8
-
-# This tag can be used to specify the character encoding of the source files
-# that doxygen parses The INPUT_FILE_ENCODING tag can be used to specify
-# character encoding on a per file pattern basis. Doxygen will compare the file
-# name with each pattern and apply the encoding instead of the default
-# INPUT_ENCODING) if there is a match. The character encodings are a list of the
-# form: pattern=encoding (like *.php=ISO-8859-1). See cfg_input_encoding
-# "INPUT_ENCODING" for further information on supported encodings.
-
-INPUT_FILE_ENCODING =
-
-# If the value of the INPUT tag contains directories, you can use the
-# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
-# *.h) to filter out the source-files in the directories.
-#
-# Note that for custom extensions or not directly supported extensions you also
-# need to set EXTENSION_MAPPING for the extension otherwise the files are not
-# read by doxygen.
-#
-# Note the list of default checked file patterns might differ from the list of
-# default file extension mappings.
-#
-# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cxxm,
-# *.cpp, *.cppm, *.c++, *.c++m, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl,
-# *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp, *.h++, *.ixx, *.l, *.cs, *.d, *.php,
-# *.php4, *.php5, *.phtml, *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to be
-# provided as doxygen C comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08,
-# *.f18, *.f, *.for, *.vhd, *.vhdl, *.ucf, *.qsf and *.ice.
-
-FILE_PATTERNS = *.c \
- *.cc \
- *.cxx \
- *.cpp \
- *.c++ \
- *.java \
- *.ii \
- *.ixx \
- *.ipp \
- *.i++ \
- *.inl \
- *.idl \
- *.ddl \
- *.odl \
- *.h \
- *.hh \
- *.hxx \
- *.hpp \
- *.h++ \
- *.l \
- *.cs \
- *.d \
- *.php \
- *.php4 \
- *.php5 \
- *.phtml \
- *.inc \
- *.m \
- *.markdown \
- *.md \
- *.mm \
- *.dox \
- *.py \
- *.pyw \
- *.f90 \
- *.f95 \
- *.f03 \
- *.f08 \
- *.f18 \
- *.f \
- *.for \
- *.vhd \
- *.vhdl \
- *.ucf \
- *.qsf \
- *.ice
-
-# The RECURSIVE tag can be used to specify whether or not subdirectories should
-# be searched for input files as well.
-# The default value is: NO.
-
-RECURSIVE = YES
-
-# The EXCLUDE tag can be used to specify files and/or directories that should be
-# excluded from the INPUT source files. This way you can easily exclude a
-# subdirectory from a directory tree whose root is specified with the INPUT tag.
-#
-# Note that relative paths are relative to the directory from which doxygen is
-# run.
-
-EXCLUDE =
-
-# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
-# directories that are symbolic links (a Unix file system feature) are excluded
-# from the input.
-# The default value is: NO.
-
-EXCLUDE_SYMLINKS = NO
-
-# If the value of the INPUT tag contains directories, you can use the
-# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
-# certain files from those directories.
-#
-# Note that the wildcards are matched against the file with absolute path, so to
-# exclude all test directories for example use the pattern */test/*
-
-EXCLUDE_PATTERNS = gtest* \
- googletest*
-
-# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
-# (namespaces, classes, functions, etc.) that should be excluded from the
-# output. The symbol name can be a fully qualified name, a word, or if the
-# wildcard * is used, a substring. Examples: ANamespace, AClass,
-# ANamespace::AClass, ANamespace::*Test
-
-EXCLUDE_SYMBOLS =
-
-# The EXAMPLE_PATH tag can be used to specify one or more files or directories
-# that contain example code fragments that are included (see the \include
-# command).
-
-EXAMPLE_PATH =
-
-# If the value of the EXAMPLE_PATH tag contains directories, you can use the
-# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and
-# *.h) to filter out the source-files in the directories. If left blank all
-# files are included.
-
-EXAMPLE_PATTERNS = *
-
-# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
-# searched for input files to be used with the \include or \dontinclude commands
-# irrespective of the value of the RECURSIVE tag.
-# The default value is: NO.
-
-EXAMPLE_RECURSIVE = NO
-
-# The IMAGE_PATH tag can be used to specify one or more files or directories
-# that contain images that are to be included in the documentation (see the
-# \image command).
-
-IMAGE_PATH = images \
- .
-
-# The INPUT_FILTER tag can be used to specify a program that doxygen should
-# invoke to filter for each input file. Doxygen will invoke the filter program
-# by executing (via popen()) the command:
-#
-# <filter> <input-file>
-#
-# where <filter> is the value of the INPUT_FILTER tag, and <input-file> is the
-# name of an input file. Doxygen will then use the output that the filter
-# program writes to standard output. If FILTER_PATTERNS is specified, this tag
-# will be ignored.
-#
-# Note that the filter must not add or remove lines; it is applied before the
-# code is scanned, but not when the output code is generated. If lines are added
-# or removed, the anchors will not be placed correctly.
-#
-# Note that doxygen will use the data processed and written to standard output
-# for further processing, therefore nothing else, like debug statements or used
-# commands (so in case of a Windows batch file always use @echo OFF), should be
-# written to standard output.
-#
-# Note that for custom extensions or not directly supported extensions you also
-# need to set EXTENSION_MAPPING for the extension otherwise the files are not
-# properly processed by doxygen.
-
-INPUT_FILTER =
-
-# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
-# basis. Doxygen will compare the file name with each pattern and apply the
-# filter if there is a match. The filters are a list of the form: pattern=filter
-# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
-# filters are used. If the FILTER_PATTERNS tag is empty or if none of the
-# patterns match the file name, INPUT_FILTER is applied.
-#
-# Note that for custom extensions or not directly supported extensions you also
-# need to set EXTENSION_MAPPING for the extension otherwise the files are not
-# properly processed by doxygen.
-
-FILTER_PATTERNS =
-
-# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
-# INPUT_FILTER) will also be used to filter the input files that are used for
-# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
-# The default value is: NO.
-
-FILTER_SOURCE_FILES = NO
-
-# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
-# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and
-# it is also possible to disable source filtering for a specific pattern using
-# *.ext= (so without naming a filter).
-# This tag requires that the tag FILTER_SOURCE_FILES is set to YES.
-
-FILTER_SOURCE_PATTERNS =
-
-# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that
-# is part of the input, its contents will be placed on the main page
-# (index.html). This can be useful if you have a project on for instance GitHub
-# and want to reuse the introduction page also for the doxygen output.
-
-USE_MDFILE_AS_MAINPAGE =
-
-# The Fortran standard specifies that for fixed formatted Fortran code all
-# characters from position 72 are to be considered as comment. A common
-# extension is to allow longer lines before the automatic comment starts. The
-# setting FORTRAN_COMMENT_AFTER will also make it possible that longer lines can
-# be processed before the automatic comment starts.
-# Minimum value: 7, maximum value: 10000, default value: 72.
-
-FORTRAN_COMMENT_AFTER = 72
-
-#---------------------------------------------------------------------------
-# Configuration options related to source browsing
-#---------------------------------------------------------------------------
-
-# If the SOURCE_BROWSER tag is set to YES then a list of source files will be
-# generated. Documented entities will be cross-referenced with these sources.
-#
-# Note: To get rid of all source code in the generated output, make sure that
-# also VERBATIM_HEADERS is set to NO.
-# The default value is: NO.
-
-SOURCE_BROWSER = NO
-
-# Setting the INLINE_SOURCES tag to YES will include the body of functions,
-# classes and enums directly into the documentation.
-# The default value is: NO.
-
-INLINE_SOURCES = NO
-
-# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
-# special comment blocks from generated source code fragments. Normal C, C++ and
-# Fortran comments will always remain visible.
-# The default value is: YES.
-
-STRIP_CODE_COMMENTS = YES
-
-# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
-# entity all documented functions referencing it will be listed.
-# The default value is: NO.
-
-REFERENCED_BY_RELATION = NO
-
-# If the REFERENCES_RELATION tag is set to YES then for each documented function
-# all documented entities called/used by that function will be listed.
-# The default value is: NO.
-
-REFERENCES_RELATION = NO
-
-# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set
-# to YES then the hyperlinks from functions in REFERENCES_RELATION and
-# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will
-# link to the documentation.
-# The default value is: YES.
-
-REFERENCES_LINK_SOURCE = YES
-
-# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the
-# source code will show a tooltip with additional information such as prototype,
-# brief description and links to the definition and documentation. Since this
-# will make the HTML file larger and loading of large files a bit slower, you
-# can opt to disable this feature.
-# The default value is: YES.
-# This tag requires that the tag SOURCE_BROWSER is set to YES.
-
-SOURCE_TOOLTIPS = YES
-
-# If the USE_HTAGS tag is set to YES then the references to source code will
-# point to the HTML generated by the htags(1) tool instead of doxygen built-in
-# source browser. The htags tool is part of GNU's global source tagging system
-# (see https://www.gnu.org/software/global/global.html). You will need version
-# 4.8.6 or higher.
-#
-# To use it do the following:
-# - Install the latest version of global
-# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file
-# - Make sure the INPUT points to the root of the source tree
-# - Run doxygen as normal
-#
-# Doxygen will invoke htags (and that will in turn invoke gtags), so these
-# tools must be available from the command line (i.e. in the search path).
-#
-# The result: instead of the source browser generated by doxygen, the links to
-# source code will now point to the output of htags.
-# The default value is: NO.
-# This tag requires that the tag SOURCE_BROWSER is set to YES.
-
-USE_HTAGS = NO
-
-# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a
-# verbatim copy of the header file for each class for which an include is
-# specified. Set to NO to disable this.
-# See also: Section \class.
-# The default value is: YES.
-
-VERBATIM_HEADERS = YES
-
-# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the
-# clang parser (see:
-# http://clang.llvm.org/) for more accurate parsing at the cost of reduced
-# performance. This can be particularly helpful with template rich C++ code for
-# which doxygen's built-in parser lacks the necessary type information.
-# Note: The availability of this option depends on whether or not doxygen was
-# generated with the -Duse_libclang=ON option for CMake.
-# The default value is: NO.
-
-CLANG_ASSISTED_PARSING = NO
-
-# If the CLANG_ASSISTED_PARSING tag is set to YES and the CLANG_ADD_INC_PATHS
-# tag is set to YES then doxygen will add the directory of each input to the
-# include path.
-# The default value is: YES.
-# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
-
-CLANG_ADD_INC_PATHS = YES
-
-# If clang assisted parsing is enabled you can provide the compiler with command
-# line options that you would normally use when invoking the compiler. Note that
-# the include paths will already be set by doxygen for the files and directories
-# specified with INPUT and INCLUDE_PATH.
-# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
-
-CLANG_OPTIONS =
-
-# If clang assisted parsing is enabled you can provide the clang parser with the
-# path to the directory containing a file called compile_commands.json. This
-# file is the compilation database (see:
-# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) containing the
-# options used when the source files were built. This is equivalent to
-# specifying the -p option to a clang tool, such as clang-check. These options
-# will then be passed to the parser. Any options specified with CLANG_OPTIONS
-# will be added as well.
-# Note: The availability of this option depends on whether or not doxygen was
-# generated with the -Duse_libclang=ON option for CMake.
-
-CLANG_DATABASE_PATH =
-
-#---------------------------------------------------------------------------
-# Configuration options related to the alphabetical class index
-#---------------------------------------------------------------------------
-
-# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all
-# compounds will be generated. Enable this if the project contains a lot of
-# classes, structs, unions or interfaces.
-# The default value is: YES.
-
-ALPHABETICAL_INDEX = YES
-
-# The IGNORE_PREFIX tag can be used to specify a prefix (or a list of prefixes)
-# that should be ignored while generating the index headers. The IGNORE_PREFIX
-# tag works for classes, function and member names. The entity will be placed in
-# the alphabetical list under the first letter of the entity name that remains
-# after removing the prefix.
-# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
-
-IGNORE_PREFIX =
-
-#---------------------------------------------------------------------------
-# Configuration options related to the HTML output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
-# The default value is: YES.
-
-GENERATE_HTML = YES
-
-# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
-# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
-# it.
-# The default directory is: html.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-HTML_OUTPUT = .
-
-# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each
-# generated HTML page (for example: .htm, .php, .asp).
-# The default value is: .html.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-HTML_FILE_EXTENSION = .html
-
-# The HTML_HEADER tag can be used to specify a user-defined HTML header file for
-# each generated HTML page. If the tag is left blank doxygen will generate a
-# standard header.
-#
-# To get valid HTML the header file that includes any scripts and style sheets
-# that doxygen needs, which is dependent on the configuration options used (e.g.
-# the setting GENERATE_TREEVIEW). It is highly recommended to start with a
-# default header using
-# doxygen -w html new_header.html new_footer.html new_stylesheet.css
-# YourConfigFile
-# and then modify the file new_header.html. See also section "Doxygen usage"
-# for information on how to generate the default header that doxygen normally
-# uses.
-# Note: The header is subject to change so you typically have to regenerate the
-# default header when upgrading to a newer version of doxygen. For a description
-# of the possible markers and block names see the documentation.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-HTML_HEADER =
-
-# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
-# generated HTML page. If the tag is left blank doxygen will generate a standard
-# footer. See HTML_HEADER for more information on how to generate a default
-# footer and what special commands can be used inside the footer. See also
-# section "Doxygen usage" for information on how to generate the default footer
-# that doxygen normally uses.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-HTML_FOOTER =
-
-# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style
-# sheet that is used by each HTML page. It can be used to fine-tune the look of
-# the HTML output. If left blank doxygen will generate a default style sheet.
-# See also section "Doxygen usage" for information on how to generate the style
-# sheet that doxygen normally uses.
-# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as
-# it is more robust and this tag (HTML_STYLESHEET) will in the future become
-# obsolete.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-HTML_STYLESHEET =
-
-# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined
-# cascading style sheets that are included after the standard style sheets
-# created by doxygen. Using this option one can overrule certain style aspects.
-# This is preferred over using HTML_STYLESHEET since it does not replace the
-# standard style sheet and is therefore more robust against future updates.
-# Doxygen will copy the style sheet files to the output directory.
-# Note: The order of the extra style sheet files is of importance (e.g. the last
-# style sheet in the list overrules the setting of the previous ones in the
-# list).
-# Note: Since the styling of scrollbars can currently not be overruled in
-# Webkit/Chromium, the styling will be left out of the default doxygen.css if
-# one or more extra stylesheets have been specified. So if scrollbar
-# customization is desired it has to be added explicitly. For an example see the
-# documentation.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-HTML_EXTRA_STYLESHEET = custom_doxygen.css
-
-# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
-# other source files which should be copied to the HTML output directory. Note
-# that these files will be copied to the base HTML output directory. Use the
-# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
-# files. In the HTML_STYLESHEET file, use the file name only. Also note that the
-# files will be copied as-is; there are no commands or markers available.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-HTML_EXTRA_FILES =
-
-# The HTML_COLORSTYLE tag can be used to specify if the generated HTML output
-# should be rendered with a dark or light theme.
-# Possible values are: LIGHT always generate light mode output, DARK always
-# generate dark mode output, AUTO_LIGHT automatically set the mode according to
-# the user preference, use light mode if no preference is set (the default),
-# AUTO_DARK automatically set the mode according to the user preference, use
-# dark mode if no preference is set and TOGGLE allow to user to switch between
-# light and dark mode via a button.
-# The default value is: AUTO_LIGHT.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-HTML_COLORSTYLE = LIGHT
-
-# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
-# will adjust the colors in the style sheet and background images according to
-# this color. Hue is specified as an angle on a color-wheel, see
-# https://en.wikipedia.org/wiki/Hue for more information. For instance the value
-# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
-# purple, and 360 is red again.
-# Minimum value: 0, maximum value: 359, default value: 220.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-HTML_COLORSTYLE_HUE = 35
-
-# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors
-# in the HTML output. For a value of 0 the output will use gray-scales only. A
-# value of 255 will produce the most vivid colors.
-# Minimum value: 0, maximum value: 255, default value: 100.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-HTML_COLORSTYLE_SAT = 0
-
-# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the
-# luminance component of the colors in the HTML output. Values below 100
-# gradually make the output lighter, whereas values above 100 make the output
-# darker. The value divided by 100 is the actual gamma applied, so 80 represents
-# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not
-# change the gamma.
-# Minimum value: 40, maximum value: 240, default value: 80.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-HTML_COLORSTYLE_GAMMA = 103
-
-# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML
-# documentation will contain a main index with vertical navigation menus that
-# are dynamically created via JavaScript. If disabled, the navigation index will
-# consists of multiple levels of tabs that are statically embedded in every HTML
-# page. Disable this option to support browsers that do not have JavaScript,
-# like the Qt help browser.
-# The default value is: YES.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-HTML_DYNAMIC_MENUS = YES
-
-# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
-# documentation will contain sections that can be hidden and shown after the
-# page has loaded.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-HTML_DYNAMIC_SECTIONS = NO
-
-# If the HTML_CODE_FOLDING tag is set to YES then classes and functions can be
-# dynamically folded and expanded in the generated HTML source code.
-# The default value is: YES.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-HTML_CODE_FOLDING = YES
-
-# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
-# shown in the various tree structured indices initially; the user can expand
-# and collapse entries dynamically later on. Doxygen will expand the tree to
-# such a level that at most the specified number of entries are visible (unless
-# a fully collapsed tree already exceeds this amount). So setting the number of
-# entries 1 will produce a full collapsed tree by default. 0 is a special value
-# representing an infinite number of entries and will result in a full expanded
-# tree by default.
-# Minimum value: 0, maximum value: 9999, default value: 100.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-HTML_INDEX_NUM_ENTRIES = 100
-
-# If the GENERATE_DOCSET tag is set to YES, additional index files will be
-# generated that can be used as input for Apple's Xcode 3 integrated development
-# environment (see:
-# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To
-# create a documentation set, doxygen will generate a Makefile in the HTML
-# output directory. Running make will produce the docset in that directory and
-# running make install will install the docset in
-# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
-# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy
-# genXcode/_index.html for more information.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-GENERATE_DOCSET = NO
-
-# This tag determines the name of the docset feed. A documentation feed provides
-# an umbrella under which multiple documentation sets from a single provider
-# (such as a company or product suite) can be grouped.
-# The default value is: Doxygen generated docs.
-# This tag requires that the tag GENERATE_DOCSET is set to YES.
-
-DOCSET_FEEDNAME = "Doxygen generated docs"
-
-# This tag determines the URL of the docset feed. A documentation feed provides
-# an umbrella under which multiple documentation sets from a single provider
-# (such as a company or product suite) can be grouped.
-# This tag requires that the tag GENERATE_DOCSET is set to YES.
-
-DOCSET_FEEDURL =
-
-# This tag specifies a string that should uniquely identify the documentation
-# set bundle. This should be a reverse domain-name style string, e.g.
-# com.mycompany.MyDocSet. Doxygen will append .docset to the name.
-# The default value is: org.doxygen.Project.
-# This tag requires that the tag GENERATE_DOCSET is set to YES.
-
-DOCSET_BUNDLE_ID = org.doxygen.Project
-
-# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify
-# the documentation publisher. This should be a reverse domain-name style
-# string, e.g. com.mycompany.MyDocSet.documentation.
-# The default value is: org.doxygen.Publisher.
-# This tag requires that the tag GENERATE_DOCSET is set to YES.
-
-DOCSET_PUBLISHER_ID = org.doxygen.Publisher
-
-# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher.
-# The default value is: Publisher.
-# This tag requires that the tag GENERATE_DOCSET is set to YES.
-
-DOCSET_PUBLISHER_NAME = Publisher
-
-# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
-# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
-# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
-# on Windows. In the beginning of 2021 Microsoft took the original page, with
-# a.o. the download links, offline the HTML help workshop was already many years
-# in maintenance mode). You can download the HTML help workshop from the web
-# archives at Installation executable (see:
-# http://web.archive.org/web/20160201063255/http://download.microsoft.com/downlo
-# ad/0/A/9/0A939EF6-E31C-430F-A3DF-DFAE7960D564/htmlhelp.exe).
-#
-# The HTML Help Workshop contains a compiler that can convert all HTML output
-# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
-# files are now used as the Windows 98 help format, and will replace the old
-# Windows help format (.hlp) on all Windows platforms in the future. Compressed
-# HTML files also contain an index, a table of contents, and you can search for
-# words in the documentation. The HTML workshop also contains a viewer for
-# compressed HTML files.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-GENERATE_HTMLHELP = NO
-
-# The CHM_FILE tag can be used to specify the file name of the resulting .chm
-# file. You can add a path in front of the file if the result should not be
-# written to the html output directory.
-# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
-
-CHM_FILE =
-
-# The HHC_LOCATION tag can be used to specify the location (absolute path
-# including file name) of the HTML help compiler (hhc.exe). If non-empty,
-# doxygen will try to run the HTML help compiler on the generated index.hhp.
-# The file has to be specified with full path.
-# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
-
-HHC_LOCATION =
-
-# The GENERATE_CHI flag controls if a separate .chi index file is generated
-# (YES) or that it should be included in the main .chm file (NO).
-# The default value is: NO.
-# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
-
-GENERATE_CHI = NO
-
-# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc)
-# and project file content.
-# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
-
-CHM_INDEX_ENCODING =
-
-# The BINARY_TOC flag controls whether a binary table of contents is generated
-# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it
-# enables the Previous and Next buttons.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
-
-BINARY_TOC = NO
-
-# The TOC_EXPAND flag can be set to YES to add extra items for group members to
-# the table of contents of the HTML help documentation and to the tree view.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
-
-TOC_EXPAND = NO
-
-# The SITEMAP_URL tag is used to specify the full URL of the place where the
-# generated documentation will be placed on the server by the user during the
-# deployment of the documentation. The generated sitemap is called sitemap.xml
-# and placed on the directory specified by HTML_OUTPUT. In case no SITEMAP_URL
-# is specified no sitemap is generated. For information about the sitemap
-# protocol see https://www.sitemaps.org
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-SITEMAP_URL =
-
-# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
-# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that
-# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help
-# (.qch) of the generated HTML documentation.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-GENERATE_QHP = NO
-
-# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify
-# the file name of the resulting .qch file. The path specified is relative to
-# the HTML output folder.
-# This tag requires that the tag GENERATE_QHP is set to YES.
-
-QCH_FILE =
-
-# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
-# Project output. For more information please see Qt Help Project / Namespace
-# (see:
-# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace).
-# The default value is: org.doxygen.Project.
-# This tag requires that the tag GENERATE_QHP is set to YES.
-
-QHP_NAMESPACE = org.doxygen.Project
-
-# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
-# Help Project output. For more information please see Qt Help Project / Virtual
-# Folders (see:
-# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders).
-# The default value is: doc.
-# This tag requires that the tag GENERATE_QHP is set to YES.
-
-QHP_VIRTUAL_FOLDER = doc
-
-# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
-# filter to add. For more information please see Qt Help Project / Custom
-# Filters (see:
-# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
-# This tag requires that the tag GENERATE_QHP is set to YES.
-
-QHP_CUST_FILTER_NAME =
-
-# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
-# custom filter to add. For more information please see Qt Help Project / Custom
-# Filters (see:
-# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
-# This tag requires that the tag GENERATE_QHP is set to YES.
-
-QHP_CUST_FILTER_ATTRS =
-
-# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
-# project's filter section matches. Qt Help Project / Filter Attributes (see:
-# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes).
-# This tag requires that the tag GENERATE_QHP is set to YES.
-
-QHP_SECT_FILTER_ATTRS =
-
-# The QHG_LOCATION tag can be used to specify the location (absolute path
-# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to
-# run qhelpgenerator on the generated .qhp file.
-# This tag requires that the tag GENERATE_QHP is set to YES.
-
-QHG_LOCATION =
-
-# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be
-# generated, together with the HTML files, they form an Eclipse help plugin. To
-# install this plugin and make it available under the help contents menu in
-# Eclipse, the contents of the directory containing the HTML and XML files needs
-# to be copied into the plugins directory of eclipse. The name of the directory
-# within the plugins directory should be the same as the ECLIPSE_DOC_ID value.
-# After copying Eclipse needs to be restarted before the help appears.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-GENERATE_ECLIPSEHELP = NO
-
-# A unique identifier for the Eclipse help plugin. When installing the plugin
-# the directory name containing the HTML and XML files should also have this
-# name. Each documentation set should have its own identifier.
-# The default value is: org.doxygen.Project.
-# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES.
-
-ECLIPSE_DOC_ID = org.doxygen.Project
-
-# If you want full control over the layout of the generated HTML pages it might
-# be necessary to disable the index and replace it with your own. The
-# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top
-# of each HTML page. A value of NO enables the index and the value YES disables
-# it. Since the tabs in the index contain the same information as the navigation
-# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-DISABLE_INDEX = NO
-
-# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
-# structure should be generated to display hierarchical information. If the tag
-# value is set to YES, a side panel will be generated containing a tree-like
-# index structure (just like the one that is generated for HTML Help). For this
-# to work a browser that supports JavaScript, DHTML, CSS and frames is required
-# (i.e. any modern browser). Windows users are probably better off using the
-# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can
-# further fine tune the look of the index (see "Fine-tuning the output"). As an
-# example, the default style sheet generated by doxygen has an example that
-# shows how to put an image at the root of the tree instead of the PROJECT_NAME.
-# Since the tree basically has the same information as the tab index, you could
-# consider setting DISABLE_INDEX to YES when enabling this option.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-GENERATE_TREEVIEW = NO
-
-# When both GENERATE_TREEVIEW and DISABLE_INDEX are set to YES, then the
-# FULL_SIDEBAR option determines if the side bar is limited to only the treeview
-# area (value NO) or if it should extend to the full height of the window (value
-# YES). Setting this to YES gives a layout similar to
-# https://docs.readthedocs.io with more room for contents, but less room for the
-# project logo, title, and description. If either GENERATE_TREEVIEW or
-# DISABLE_INDEX is set to NO, this option has no effect.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-FULL_SIDEBAR = NO
-
-# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
-# doxygen will group on one line in the generated HTML documentation.
-#
-# Note that a value of 0 will completely suppress the enum values from appearing
-# in the overview section.
-# Minimum value: 0, maximum value: 20, default value: 4.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-ENUM_VALUES_PER_LINE = 4
-
-# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used
-# to set the initial width (in pixels) of the frame in which the tree is shown.
-# Minimum value: 0, maximum value: 1500, default value: 250.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-TREEVIEW_WIDTH = 250
-
-# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to
-# external symbols imported via tag files in a separate window.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-EXT_LINKS_IN_WINDOW = NO
-
-# If the OBFUSCATE_EMAILS tag is set to YES, doxygen will obfuscate email
-# addresses.
-# The default value is: YES.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-OBFUSCATE_EMAILS = YES
-
-# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg
-# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see
-# https://inkscape.org) to generate formulas as SVG images instead of PNGs for
-# the HTML output. These images will generally look nicer at scaled resolutions.
-# Possible values are: png (the default) and svg (looks nicer but requires the
-# pdf2svg or inkscape tool).
-# The default value is: png.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-HTML_FORMULA_FORMAT = png
-
-# Use this tag to change the font size of LaTeX formulas included as images in
-# the HTML documentation. When you change the font size after a successful
-# doxygen run you need to manually remove any form_*.png images from the HTML
-# output directory to force them to be regenerated.
-# Minimum value: 8, maximum value: 50, default value: 10.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-FORMULA_FONTSIZE = 10
-
-# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands
-# to create new LaTeX commands to be used in formulas as building blocks. See
-# the section "Including formulas" for details.
-
-FORMULA_MACROFILE =
-
-# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
-# https://www.mathjax.org) which uses client side JavaScript for the rendering
-# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
-# installed or if you want to formulas look prettier in the HTML output. When
-# enabled you may also need to install MathJax separately and configure the path
-# to it using the MATHJAX_RELPATH option.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-USE_MATHJAX = NO
-
-# With MATHJAX_VERSION it is possible to specify the MathJax version to be used.
-# Note that the different versions of MathJax have different requirements with
-# regards to the different settings, so it is possible that also other MathJax
-# settings have to be changed when switching between the different MathJax
-# versions.
-# Possible values are: MathJax_2 and MathJax_3.
-# The default value is: MathJax_2.
-# This tag requires that the tag USE_MATHJAX is set to YES.
-
-MATHJAX_VERSION = MathJax_2
-
-# When MathJax is enabled you can set the default output format to be used for
-# the MathJax output. For more details about the output format see MathJax
-# version 2 (see:
-# http://docs.mathjax.org/en/v2.7-latest/output.html) and MathJax version 3
-# (see:
-# http://docs.mathjax.org/en/latest/web/components/output.html).
-# Possible values are: HTML-CSS (which is slower, but has the best
-# compatibility. This is the name for Mathjax version 2, for MathJax version 3
-# this will be translated into chtml), NativeMML (i.e. MathML. Only supported
-# for NathJax 2. For MathJax version 3 chtml will be used instead.), chtml (This
-# is the name for Mathjax version 3, for MathJax version 2 this will be
-# translated into HTML-CSS) and SVG.
-# The default value is: HTML-CSS.
-# This tag requires that the tag USE_MATHJAX is set to YES.
-
-MATHJAX_FORMAT = HTML-CSS
-
-# When MathJax is enabled you need to specify the location relative to the HTML
-# output directory using the MATHJAX_RELPATH option. The destination directory
-# should contain the MathJax.js script. For instance, if the mathjax directory
-# is located at the same level as the HTML output directory, then
-# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
-# Content Delivery Network so you can quickly see the result without installing
-# MathJax. However, it is strongly recommended to install a local copy of
-# MathJax from https://www.mathjax.org before deployment. The default value is:
-# - in case of MathJax version 2: https://cdn.jsdelivr.net/npm/mathjax@2
-# - in case of MathJax version 3: https://cdn.jsdelivr.net/npm/mathjax@3
-# This tag requires that the tag USE_MATHJAX is set to YES.
-
-MATHJAX_RELPATH =
-
-# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
-# extension names that should be enabled during MathJax rendering. For example
-# for MathJax version 2 (see
-# https://docs.mathjax.org/en/v2.7-latest/tex.html#tex-and-latex-extensions):
-# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
-# For example for MathJax version 3 (see
-# http://docs.mathjax.org/en/latest/input/tex/extensions/index.html):
-# MATHJAX_EXTENSIONS = ams
-# This tag requires that the tag USE_MATHJAX is set to YES.
-
-MATHJAX_EXTENSIONS =
-
-# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
-# of code that will be used on startup of the MathJax code. See the MathJax site
-# (see:
-# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an
-# example see the documentation.
-# This tag requires that the tag USE_MATHJAX is set to YES.
-
-MATHJAX_CODEFILE =
-
-# When the SEARCHENGINE tag is enabled doxygen will generate a search box for
-# the HTML output. The underlying search engine uses javascript and DHTML and
-# should work on any modern browser. Note that when using HTML help
-# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET)
-# there is already a search function so this one should typically be disabled.
-# For large projects the javascript based search engine can be slow, then
-# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to
-# search using the keyboard; to jump to the search box use <access key> + S
-# (what the <access key> is depends on the OS and browser, but it is typically
-# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down
-# key> to jump into the search results window, the results can be navigated
-# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel
-# the search. The filter options can be selected when the cursor is inside the
-# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys>
-# to select a filter and <Enter> or <escape> to activate or cancel the filter
-# option.
-# The default value is: YES.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-SEARCHENGINE = YES
-
-# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
-# implemented using a web server instead of a web client using JavaScript. There
-# are two flavors of web server based searching depending on the EXTERNAL_SEARCH
-# setting. When disabled, doxygen will generate a PHP script for searching and
-# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing
-# and searching needs to be provided by external tools. See the section
-# "External Indexing and Searching" for details.
-# The default value is: NO.
-# This tag requires that the tag SEARCHENGINE is set to YES.
-
-SERVER_BASED_SEARCH = NO
-
-# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP
-# script for searching. Instead the search results are written to an XML file
-# which needs to be processed by an external indexer. Doxygen will invoke an
-# external search engine pointed to by the SEARCHENGINE_URL option to obtain the
-# search results.
-#
-# Doxygen ships with an example indexer (doxyindexer) and search engine
-# (doxysearch.cgi) which are based on the open source search engine library
-# Xapian (see:
-# https://xapian.org/).
-#
-# See the section "External Indexing and Searching" for details.
-# The default value is: NO.
-# This tag requires that the tag SEARCHENGINE is set to YES.
-
-EXTERNAL_SEARCH = NO
-
-# The SEARCHENGINE_URL should point to a search engine hosted by a web server
-# which will return the search results when EXTERNAL_SEARCH is enabled.
-#
-# Doxygen ships with an example indexer (doxyindexer) and search engine
-# (doxysearch.cgi) which are based on the open source search engine library
-# Xapian (see:
-# https://xapian.org/). See the section "External Indexing and Searching" for
-# details.
-# This tag requires that the tag SEARCHENGINE is set to YES.
-
-SEARCHENGINE_URL =
-
-# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
-# search data is written to a file for indexing by an external tool. With the
-# SEARCHDATA_FILE tag the name of this file can be specified.
-# The default file is: searchdata.xml.
-# This tag requires that the tag SEARCHENGINE is set to YES.
-
-SEARCHDATA_FILE = searchdata.xml
-
-# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the
-# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
-# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
-# projects and redirect the results back to the right project.
-# This tag requires that the tag SEARCHENGINE is set to YES.
-
-EXTERNAL_SEARCH_ID =
-
-# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
-# projects other than the one defined by this configuration file, but that are
-# all added to the same external search index. Each project needs to have a
-# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of
-# to a relative location where the documentation can be found. The format is:
-# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ...
-# This tag requires that the tag SEARCHENGINE is set to YES.
-
-EXTRA_SEARCH_MAPPINGS =
-
-#---------------------------------------------------------------------------
-# Configuration options related to the LaTeX output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
-# The default value is: YES.
-
-GENERATE_LATEX = NO
-
-# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
-# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
-# it.
-# The default directory is: latex.
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-LATEX_OUTPUT = latex
-
-# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
-# invoked.
-#
-# Note that when not enabling USE_PDFLATEX the default is latex when enabling
-# USE_PDFLATEX the default is pdflatex and when in the later case latex is
-# chosen this is overwritten by pdflatex. For specific output languages the
-# default can have been set differently, this depends on the implementation of
-# the output language.
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-LATEX_CMD_NAME =
-
-# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate
-# index for LaTeX.
-# Note: This tag is used in the Makefile / make.bat.
-# See also: LATEX_MAKEINDEX_CMD for the part in the generated output file
-# (.tex).
-# The default file is: makeindex.
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-MAKEINDEX_CMD_NAME = makeindex
-
-# The LATEX_MAKEINDEX_CMD tag can be used to specify the command name to
-# generate index for LaTeX. In case there is no backslash (\) as first character
-# it will be automatically added in the LaTeX code.
-# Note: This tag is used in the generated output file (.tex).
-# See also: MAKEINDEX_CMD_NAME for the part in the Makefile / make.bat.
-# The default value is: makeindex.
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-LATEX_MAKEINDEX_CMD = makeindex
-
-# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX
-# documents. This may be useful for small projects and may help to save some
-# trees in general.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-COMPACT_LATEX = NO
-
-# The PAPER_TYPE tag can be used to set the paper type that is used by the
-# printer.
-# Possible values are: a4 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x
-# 14 inches) and executive (7.25 x 10.5 inches).
-# The default value is: a4.
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-PAPER_TYPE = a4
-
-# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
-# that should be included in the LaTeX output. The package can be specified just
-# by its name or with the correct syntax as to be used with the LaTeX
-# \usepackage command. To get the times font for instance you can specify :
-# EXTRA_PACKAGES=times or EXTRA_PACKAGES={times}
-# To use the option intlimits with the amsmath package you can specify:
-# EXTRA_PACKAGES=[intlimits]{amsmath}
-# If left blank no extra packages will be included.
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-EXTRA_PACKAGES =
-
-# The LATEX_HEADER tag can be used to specify a user-defined LaTeX header for
-# the generated LaTeX document. The header should contain everything until the
-# first chapter. If it is left blank doxygen will generate a standard header. It
-# is highly recommended to start with a default header using
-# doxygen -w latex new_header.tex new_footer.tex new_stylesheet.sty
-# and then modify the file new_header.tex. See also section "Doxygen usage" for
-# information on how to generate the default header that doxygen normally uses.
-#
-# Note: Only use a user-defined header if you know what you are doing!
-# Note: The header is subject to change so you typically have to regenerate the
-# default header when upgrading to a newer version of doxygen. The following
-# commands have a special meaning inside the header (and footer): For a
-# description of the possible markers and block names see the documentation.
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-LATEX_HEADER =
-
-# The LATEX_FOOTER tag can be used to specify a user-defined LaTeX footer for
-# the generated LaTeX document. The footer should contain everything after the
-# last chapter. If it is left blank doxygen will generate a standard footer. See
-# LATEX_HEADER for more information on how to generate a default footer and what
-# special commands can be used inside the footer. See also section "Doxygen
-# usage" for information on how to generate the default footer that doxygen
-# normally uses. Note: Only use a user-defined footer if you know what you are
-# doing!
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-LATEX_FOOTER =
-
-# The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined
-# LaTeX style sheets that are included after the standard style sheets created
-# by doxygen. Using this option one can overrule certain style aspects. Doxygen
-# will copy the style sheet files to the output directory.
-# Note: The order of the extra style sheet files is of importance (e.g. the last
-# style sheet in the list overrules the setting of the previous ones in the
-# list).
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-LATEX_EXTRA_STYLESHEET =
-
-# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
-# other source files which should be copied to the LATEX_OUTPUT output
-# directory. Note that the files will be copied as-is; there are no commands or
-# markers available.
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-LATEX_EXTRA_FILES =
-
-# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is
-# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will
-# contain links (just like the HTML output) instead of page references. This
-# makes the output suitable for online browsing using a PDF viewer.
-# The default value is: YES.
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-PDF_HYPERLINKS = YES
-
-# If the USE_PDFLATEX tag is set to YES, doxygen will use the engine as
-# specified with LATEX_CMD_NAME to generate the PDF file directly from the LaTeX
-# files. Set this option to YES, to get a higher quality PDF documentation.
-#
-# See also section LATEX_CMD_NAME for selecting the engine.
-# The default value is: YES.
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-USE_PDFLATEX = YES
-
-# The LATEX_BATCHMODE tag signals the behavior of LaTeX in case of an error.
-# Possible values are: NO same as ERROR_STOP, YES same as BATCH, BATCH In batch
-# mode nothing is printed on the terminal, errors are scrolled as if <return> is
-# hit at every error; missing files that TeX tries to input or request from
-# keyboard input (\read on a not open input stream) cause the job to abort,
-# NON_STOP In nonstop mode the diagnostic message will appear on the terminal,
-# but there is no possibility of user interaction just like in batch mode,
-# SCROLL In scroll mode, TeX will stop only for missing files to input or if
-# keyboard input is necessary and ERROR_STOP In errorstop mode, TeX will stop at
-# each error, asking for user intervention.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-LATEX_BATCHMODE = NO
-
-# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the
-# index chapters (such as File Index, Compound Index, etc.) in the output.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-LATEX_HIDE_INDICES = NO
-
-# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
-# bibliography, e.g. plainnat, or ieeetr. See
-# https://en.wikipedia.org/wiki/BibTeX and \cite for more info.
-# The default value is: plain.
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-LATEX_BIB_STYLE = plain
-
-# The LATEX_EMOJI_DIRECTORY tag is used to specify the (relative or absolute)
-# path from which the emoji images will be read. If a relative path is entered,
-# it will be relative to the LATEX_OUTPUT directory. If left blank the
-# LATEX_OUTPUT directory will be used.
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-LATEX_EMOJI_DIRECTORY =
-
-#---------------------------------------------------------------------------
-# Configuration options related to the RTF output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_RTF tag is set to YES, doxygen will generate RTF output. The
-# RTF output is optimized for Word 97 and may not look too pretty with other RTF
-# readers/editors.
-# The default value is: NO.
-
-GENERATE_RTF = NO
-
-# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. If a
-# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
-# it.
-# The default directory is: rtf.
-# This tag requires that the tag GENERATE_RTF is set to YES.
-
-RTF_OUTPUT = rtf
-
-# If the COMPACT_RTF tag is set to YES, doxygen generates more compact RTF
-# documents. This may be useful for small projects and may help to save some
-# trees in general.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_RTF is set to YES.
-
-COMPACT_RTF = NO
-
-# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated will
-# contain hyperlink fields. The RTF file will contain links (just like the HTML
-# output) instead of page references. This makes the output suitable for online
-# browsing using Word or some other Word compatible readers that support those
-# fields.
-#
-# Note: WordPad (write) and others do not support links.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_RTF is set to YES.
-
-RTF_HYPERLINKS = NO
-
-# Load stylesheet definitions from file. Syntax is similar to doxygen's
-# configuration file, i.e. a series of assignments. You only have to provide
-# replacements, missing definitions are set to their default value.
-#
-# See also section "Doxygen usage" for information on how to generate the
-# default style sheet that doxygen normally uses.
-# This tag requires that the tag GENERATE_RTF is set to YES.
-
-RTF_STYLESHEET_FILE =
-
-# Set optional variables used in the generation of an RTF document. Syntax is
-# similar to doxygen's configuration file. A template extensions file can be
-# generated using doxygen -e rtf extensionFile.
-# This tag requires that the tag GENERATE_RTF is set to YES.
-
-RTF_EXTENSIONS_FILE =
-
-#---------------------------------------------------------------------------
-# Configuration options related to the man page output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_MAN tag is set to YES, doxygen will generate man pages for
-# classes and files.
-# The default value is: NO.
-
-GENERATE_MAN = NO
-
-# The MAN_OUTPUT tag is used to specify where the man pages will be put. If a
-# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
-# it. A directory man3 will be created inside the directory specified by
-# MAN_OUTPUT.
-# The default directory is: man.
-# This tag requires that the tag GENERATE_MAN is set to YES.
-
-MAN_OUTPUT = man
-
-# The MAN_EXTENSION tag determines the extension that is added to the generated
-# man pages. In case the manual section does not start with a number, the number
-# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is
-# optional.
-# The default value is: .3.
-# This tag requires that the tag GENERATE_MAN is set to YES.
-
-MAN_EXTENSION = .3
-
-# The MAN_SUBDIR tag determines the name of the directory created within
-# MAN_OUTPUT in which the man pages are placed. If defaults to man followed by
-# MAN_EXTENSION with the initial . removed.
-# This tag requires that the tag GENERATE_MAN is set to YES.
-
-MAN_SUBDIR =
-
-# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it
-# will generate one additional man file for each entity documented in the real
-# man page(s). These additional files only source the real man page, but without
-# them the man command would be unable to find the correct page.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_MAN is set to YES.
-
-MAN_LINKS = NO
-
-#---------------------------------------------------------------------------
-# Configuration options related to the XML output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_XML tag is set to YES, doxygen will generate an XML file that
-# captures the structure of the code including all documentation.
-# The default value is: NO.
-
-GENERATE_XML = NO
-
-# The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
-# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
-# it.
-# The default directory is: xml.
-# This tag requires that the tag GENERATE_XML is set to YES.
-
-XML_OUTPUT = xml
-
-# If the XML_PROGRAMLISTING tag is set to YES, doxygen will dump the program
-# listings (including syntax highlighting and cross-referencing information) to
-# the XML output. Note that enabling this will significantly increase the size
-# of the XML output.
-# The default value is: YES.
-# This tag requires that the tag GENERATE_XML is set to YES.
-
-XML_PROGRAMLISTING = YES
-
-# If the XML_NS_MEMB_FILE_SCOPE tag is set to YES, doxygen will include
-# namespace members in file scope as well, matching the HTML output.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_XML is set to YES.
-
-XML_NS_MEMB_FILE_SCOPE = NO
-
-#---------------------------------------------------------------------------
-# Configuration options related to the DOCBOOK output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_DOCBOOK tag is set to YES, doxygen will generate Docbook files
-# that can be used to generate PDF.
-# The default value is: NO.
-
-GENERATE_DOCBOOK = NO
-
-# The DOCBOOK_OUTPUT tag is used to specify where the Docbook pages will be put.
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in
-# front of it.
-# The default directory is: docbook.
-# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
-
-DOCBOOK_OUTPUT = docbook
-
-#---------------------------------------------------------------------------
-# Configuration options for the AutoGen Definitions output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
-# AutoGen Definitions (see https://autogen.sourceforge.net/) file that captures
-# the structure of the code including all documentation. Note that this feature
-# is still experimental and incomplete at the moment.
-# The default value is: NO.
-
-GENERATE_AUTOGEN_DEF = NO
-
-#---------------------------------------------------------------------------
-# Configuration options related to Sqlite3 output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_SQLITE3 tag is set to YES doxygen will generate a Sqlite3
-# database with symbols found by doxygen stored in tables.
-# The default value is: NO.
-
-GENERATE_SQLITE3 = NO
-
-# The SQLITE3_OUTPUT tag is used to specify where the Sqlite3 database will be
-# put. If a relative path is entered the value of OUTPUT_DIRECTORY will be put
-# in front of it.
-# The default directory is: sqlite3.
-# This tag requires that the tag GENERATE_SQLITE3 is set to YES.
-
-SQLITE3_OUTPUT = sqlite3
-
-# The SQLITE3_OVERWRITE_DB tag is set to YES, the existing doxygen_sqlite3.db
-# database file will be recreated with each doxygen run. If set to NO, doxygen
-# will warn if an a database file is already found and not modify it.
-# The default value is: YES.
-# This tag requires that the tag GENERATE_SQLITE3 is set to YES.
-
-SQLITE3_RECREATE_DB = YES
-
-#---------------------------------------------------------------------------
-# Configuration options related to the Perl module output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_PERLMOD tag is set to YES, doxygen will generate a Perl module
-# file that captures the structure of the code including all documentation.
-#
-# Note that this feature is still experimental and incomplete at the moment.
-# The default value is: NO.
-
-GENERATE_PERLMOD = NO
-
-# If the PERLMOD_LATEX tag is set to YES, doxygen will generate the necessary
-# Makefile rules, Perl scripts and LaTeX code to be able to generate PDF and DVI
-# output from the Perl module output.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_PERLMOD is set to YES.
-
-PERLMOD_LATEX = NO
-
-# If the PERLMOD_PRETTY tag is set to YES, the Perl module output will be nicely
-# formatted so it can be parsed by a human reader. This is useful if you want to
-# understand what is going on. On the other hand, if this tag is set to NO, the
-# size of the Perl module output will be much smaller and Perl will parse it
-# just the same.
-# The default value is: YES.
-# This tag requires that the tag GENERATE_PERLMOD is set to YES.
-
-PERLMOD_PRETTY = YES
-
-# The names of the make variables in the generated doxyrules.make file are
-# prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. This is useful
-# so different doxyrules.make files included by the same Makefile don't
-# overwrite each other's variables.
-# This tag requires that the tag GENERATE_PERLMOD is set to YES.
-
-PERLMOD_MAKEVAR_PREFIX =
-
-#---------------------------------------------------------------------------
-# Configuration options related to the preprocessor
-#---------------------------------------------------------------------------
-
-# If the ENABLE_PREPROCESSING tag is set to YES, doxygen will evaluate all
-# C-preprocessor directives found in the sources and include files.
-# The default value is: YES.
-
-ENABLE_PREPROCESSING = NO
-
-# If the MACRO_EXPANSION tag is set to YES, doxygen will expand all macro names
-# in the source code. If set to NO, only conditional compilation will be
-# performed. Macro expansion can be done in a controlled way by setting
-# EXPAND_ONLY_PREDEF to YES.
-# The default value is: NO.
-# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
-
-MACRO_EXPANSION = NO
-
-# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES then
-# the macro expansion is limited to the macros specified with the PREDEFINED and
-# EXPAND_AS_DEFINED tags.
-# The default value is: NO.
-# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
-
-EXPAND_ONLY_PREDEF = NO
-
-# If the SEARCH_INCLUDES tag is set to YES, the include files in the
-# INCLUDE_PATH will be searched if a #include is found.
-# The default value is: YES.
-# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
-
-SEARCH_INCLUDES = YES
-
-# The INCLUDE_PATH tag can be used to specify one or more directories that
-# contain include files that are not input files but should be processed by the
-# preprocessor. Note that the INCLUDE_PATH is not recursive, so the setting of
-# RECURSIVE has no effect here.
-# This tag requires that the tag SEARCH_INCLUDES is set to YES.
-
-INCLUDE_PATH =
-
-# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
-# patterns (like *.h and *.hpp) to filter out the header-files in the
-# directories. If left blank, the patterns specified with FILE_PATTERNS will be
-# used.
-# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
-
-INCLUDE_FILE_PATTERNS =
-
-# The PREDEFINED tag can be used to specify one or more macro names that are
-# defined before the preprocessor is started (similar to the -D option of e.g.
-# gcc). The argument of the tag is a list of macros of the form: name or
-# name=definition (no spaces). If the definition and the "=" are omitted, "=1"
-# is assumed. To prevent a macro definition from being undefined via #undef or
-# recursively expanded use the := operator instead of the = operator.
-# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
-
-PREDEFINED =
-
-# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
-# tag can be used to specify a list of macro names that should be expanded. The
-# macro definition that is found in the sources will be used. Use the PREDEFINED
-# tag if you want to use a different macro definition that overrules the
-# definition found in the source code.
-# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
-
-EXPAND_AS_DEFINED =
-
-# If the SKIP_FUNCTION_MACROS tag is set to YES then doxygen's preprocessor will
-# remove all references to function-like macros that are alone on a line, have
-# an all uppercase name, and do not end with a semicolon. Such function macros
-# are typically used for boiler-plate code, and will confuse the parser if not
-# removed.
-# The default value is: YES.
-# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
-
-SKIP_FUNCTION_MACROS = YES
-
-#---------------------------------------------------------------------------
-# Configuration options related to external references
-#---------------------------------------------------------------------------
-
-# The TAGFILES tag can be used to specify one or more tag files. For each tag
-# file the location of the external documentation should be added. The format of
-# a tag file without this location is as follows:
-# TAGFILES = file1 file2 ...
-# Adding location for the tag files is done as follows:
-# TAGFILES = file1=loc1 "file2 = loc2" ...
-# where loc1 and loc2 can be relative or absolute paths or URLs. See the
-# section "Linking to external documentation" for more information about the use
-# of tag files.
-# Note: Each tag file must have a unique name (where the name does NOT include
-# the path). If a tag file is not located in the directory in which doxygen is
-# run, you must also specify the path to the tagfile here.
-
-TAGFILES =
-
-# When a file name is specified after GENERATE_TAGFILE, doxygen will create a
-# tag file that is based on the input files it reads. See section "Linking to
-# external documentation" for more information about the usage of tag files.
-
-GENERATE_TAGFILE =
-
-# If the ALLEXTERNALS tag is set to YES, all external classes and namespaces
-# will be listed in the class and namespace index. If set to NO, only the
-# inherited external classes will be listed.
-# The default value is: NO.
-
-ALLEXTERNALS = NO
-
-# If the EXTERNAL_GROUPS tag is set to YES, all external groups will be listed
-# in the topic index. If set to NO, only the current project's groups will be
-# listed.
-# The default value is: YES.
-
-EXTERNAL_GROUPS = YES
-
-# If the EXTERNAL_PAGES tag is set to YES, all external pages will be listed in
-# the related pages index. If set to NO, only the current project's pages will
-# be listed.
-# The default value is: YES.
-
-EXTERNAL_PAGES = YES
-
-#---------------------------------------------------------------------------
-# Configuration options related to diagram generator tools
-#---------------------------------------------------------------------------
-
-# If set to YES the inheritance and collaboration graphs will hide inheritance
-# and usage relations if the target is undocumented or is not a class.
-# The default value is: YES.
-
-HIDE_UNDOC_RELATIONS = YES
-
-# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
-# available from the path. This tool is part of Graphviz (see:
-# https://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent
-# Bell Labs. The other options in this section have no effect if this option is
-# set to NO
-# The default value is: NO.
-
-HAVE_DOT = NO
-
-# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is allowed
-# to run in parallel. When set to 0 doxygen will base this on the number of
-# processors available in the system. You can set it explicitly to a value
-# larger than 0 to get control over the balance between CPU load and processing
-# speed.
-# Minimum value: 0, maximum value: 32, default value: 0.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-DOT_NUM_THREADS = 0
-
-# DOT_COMMON_ATTR is common attributes for nodes, edges and labels of
-# subgraphs. When you want a differently looking font in the dot files that
-# doxygen generates you can specify fontname, fontcolor and fontsize attributes.
-# For details please see <a href=https://graphviz.org/doc/info/attrs.html>Node,
-# Edge and Graph Attributes specification</a> You need to make sure dot is able
-# to find the font, which can be done by putting it in a standard location or by
-# setting the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the
-# directory containing the font. Default graphviz fontsize is 14.
-# The default value is: fontname=Helvetica,fontsize=10.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-DOT_COMMON_ATTR = "fontname=Helvetica,fontsize=10"
-
-# DOT_EDGE_ATTR is concatenated with DOT_COMMON_ATTR. For elegant style you can
-# add 'arrowhead=open, arrowtail=open, arrowsize=0.5'. <a
-# href=https://graphviz.org/doc/info/arrows.html>Complete documentation about
-# arrows shapes.</a>
-# The default value is: labelfontname=Helvetica,labelfontsize=10.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-DOT_EDGE_ATTR = "labelfontname=Helvetica,labelfontsize=10"
-
-# DOT_NODE_ATTR is concatenated with DOT_COMMON_ATTR. For view without boxes
-# around nodes set 'shape=plain' or 'shape=plaintext' <a
-# href=https://www.graphviz.org/doc/info/shapes.html>Shapes specification</a>
-# The default value is: shape=box,height=0.2,width=0.4.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-DOT_NODE_ATTR = "shape=box,height=0.2,width=0.4"
-
-# You can set the path where dot can find font specified with fontname in
-# DOT_COMMON_ATTR and others dot attributes.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-DOT_FONTPATH =
-
-# If the CLASS_GRAPH tag is set to YES or GRAPH or BUILTIN then doxygen will
-# generate a graph for each documented class showing the direct and indirect
-# inheritance relations. In case the CLASS_GRAPH tag is set to YES or GRAPH and
-# HAVE_DOT is enabled as well, then dot will be used to draw the graph. In case
-# the CLASS_GRAPH tag is set to YES and HAVE_DOT is disabled or if the
-# CLASS_GRAPH tag is set to BUILTIN, then the built-in generator will be used.
-# If the CLASS_GRAPH tag is set to TEXT the direct and indirect inheritance
-# relations will be shown as texts / links.
-# Possible values are: NO, YES, TEXT, GRAPH and BUILTIN.
-# The default value is: YES.
-
-CLASS_GRAPH = YES
-
-# If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a
-# graph for each documented class showing the direct and indirect implementation
-# dependencies (inheritance, containment, and class references variables) of the
-# class with other documented classes. Explicit enabling a collaboration graph,
-# when COLLABORATION_GRAPH is set to NO, can be accomplished by means of the
-# command \collaborationgraph. Disabling a collaboration graph can be
-# accomplished by means of the command \hidecollaborationgraph.
-# The default value is: YES.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-COLLABORATION_GRAPH = YES
-
-# If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for
-# groups, showing the direct groups dependencies. Explicit enabling a group
-# dependency graph, when GROUP_GRAPHS is set to NO, can be accomplished by means
-# of the command \groupgraph. Disabling a directory graph can be accomplished by
-# means of the command \hidegroupgraph. See also the chapter Grouping in the
-# manual.
-# The default value is: YES.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-GROUP_GRAPHS = YES
-
-# If the UML_LOOK tag is set to YES, doxygen will generate inheritance and
-# collaboration diagrams in a style similar to the OMG's Unified Modeling
-# Language.
-# The default value is: NO.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-UML_LOOK = NO
-
-# If the UML_LOOK tag is enabled, the fields and methods are shown inside the
-# class node. If there are many fields or methods and many nodes the graph may
-# become too big to be useful. The UML_LIMIT_NUM_FIELDS threshold limits the
-# number of items for each type to make the size more manageable. Set this to 0
-# for no limit. Note that the threshold may be exceeded by 50% before the limit
-# is enforced. So when you set the threshold to 10, up to 15 fields may appear,
-# but if the number exceeds 15, the total amount of fields shown is limited to
-# 10.
-# Minimum value: 0, maximum value: 100, default value: 10.
-# This tag requires that the tag UML_LOOK is set to YES.
-
-UML_LIMIT_NUM_FIELDS = 10
-
-# If the DOT_UML_DETAILS tag is set to NO, doxygen will show attributes and
-# methods without types and arguments in the UML graphs. If the DOT_UML_DETAILS
-# tag is set to YES, doxygen will add type and arguments for attributes and
-# methods in the UML graphs. If the DOT_UML_DETAILS tag is set to NONE, doxygen
-# will not generate fields with class member information in the UML graphs. The
-# class diagrams will look similar to the default class diagrams but using UML
-# notation for the relationships.
-# Possible values are: NO, YES and NONE.
-# The default value is: NO.
-# This tag requires that the tag UML_LOOK is set to YES.
-
-DOT_UML_DETAILS = NO
-
-# The DOT_WRAP_THRESHOLD tag can be used to set the maximum number of characters
-# to display on a single line. If the actual line length exceeds this threshold
-# significantly it will wrapped across multiple lines. Some heuristics are apply
-# to avoid ugly line breaks.
-# Minimum value: 0, maximum value: 1000, default value: 17.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-DOT_WRAP_THRESHOLD = 17
-
-# If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and
-# collaboration graphs will show the relations between templates and their
-# instances.
-# The default value is: NO.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-TEMPLATE_RELATIONS = NO
-
-# If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to
-# YES then doxygen will generate a graph for each documented file showing the
-# direct and indirect include dependencies of the file with other documented
-# files. Explicit enabling an include graph, when INCLUDE_GRAPH is is set to NO,
-# can be accomplished by means of the command \includegraph. Disabling an
-# include graph can be accomplished by means of the command \hideincludegraph.
-# The default value is: YES.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-INCLUDE_GRAPH = YES
-
-# If the INCLUDED_BY_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are
-# set to YES then doxygen will generate a graph for each documented file showing
-# the direct and indirect include dependencies of the file with other documented
-# files. Explicit enabling an included by graph, when INCLUDED_BY_GRAPH is set
-# to NO, can be accomplished by means of the command \includedbygraph. Disabling
-# an included by graph can be accomplished by means of the command
-# \hideincludedbygraph.
-# The default value is: YES.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-INCLUDED_BY_GRAPH = YES
-
-# If the CALL_GRAPH tag is set to YES then doxygen will generate a call
-# dependency graph for every global function or class method.
-#
-# Note that enabling this option will significantly increase the time of a run.
-# So in most cases it will be better to enable call graphs for selected
-# functions only using the \callgraph command. Disabling a call graph can be
-# accomplished by means of the command \hidecallgraph.
-# The default value is: NO.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-CALL_GRAPH = NO
-
-# If the CALLER_GRAPH tag is set to YES then doxygen will generate a caller
-# dependency graph for every global function or class method.
-#
-# Note that enabling this option will significantly increase the time of a run.
-# So in most cases it will be better to enable caller graphs for selected
-# functions only using the \callergraph command. Disabling a caller graph can be
-# accomplished by means of the command \hidecallergraph.
-# The default value is: NO.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-CALLER_GRAPH = NO
-
-# If the GRAPHICAL_HIERARCHY tag is set to YES then doxygen will graphical
-# hierarchy of all classes instead of a textual one.
-# The default value is: YES.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-GRAPHICAL_HIERARCHY = YES
-
-# If the DIRECTORY_GRAPH tag is set to YES then doxygen will show the
-# dependencies a directory has on other directories in a graphical way. The
-# dependency relations are determined by the #include relations between the
-# files in the directories. Explicit enabling a directory graph, when
-# DIRECTORY_GRAPH is set to NO, can be accomplished by means of the command
-# \directorygraph. Disabling a directory graph can be accomplished by means of
-# the command \hidedirectorygraph.
-# The default value is: YES.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-DIRECTORY_GRAPH = YES
-
-# The DIR_GRAPH_MAX_DEPTH tag can be used to limit the maximum number of levels
-# of child directories generated in directory dependency graphs by dot.
-# Minimum value: 1, maximum value: 25, default value: 1.
-# This tag requires that the tag DIRECTORY_GRAPH is set to YES.
-
-DIR_GRAPH_MAX_DEPTH = 1
-
-# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
-# generated by dot. For an explanation of the image formats see the section
-# output formats in the documentation of the dot tool (Graphviz (see:
-# https://www.graphviz.org/)).
-# Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order
-# to make the SVG files visible in IE 9+ (other browsers do not have this
-# requirement).
-# Possible values are: png, jpg, gif, svg, png:gd, png:gd:gd, png:cairo,
-# png:cairo:gd, png:cairo:cairo, png:cairo:gdiplus, png:gdiplus and
-# png:gdiplus:gdiplus.
-# The default value is: png.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-DOT_IMAGE_FORMAT = png
-
-# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to
-# enable generation of interactive SVG images that allow zooming and panning.
-#
-# Note that this requires a modern browser other than Internet Explorer. Tested
-# and working are Firefox, Chrome, Safari, and Opera.
-# Note: For IE 9+ you need to set HTML_FILE_EXTENSION to xhtml in order to make
-# the SVG files visible. Older versions of IE do not have SVG support.
-# The default value is: NO.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-INTERACTIVE_SVG = NO
-
-# The DOT_PATH tag can be used to specify the path where the dot tool can be
-# found. If left blank, it is assumed the dot tool can be found in the path.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-DOT_PATH =
-
-# The DOTFILE_DIRS tag can be used to specify one or more directories that
-# contain dot files that are included in the documentation (see the \dotfile
-# command).
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-DOTFILE_DIRS =
-
-# You can include diagrams made with dia in doxygen documentation. Doxygen will
-# then run dia to produce the diagram and insert it in the documentation. The
-# DIA_PATH tag allows you to specify the directory where the dia binary resides.
-# If left empty dia is assumed to be found in the default search path.
-
-DIA_PATH =
-
-# The DIAFILE_DIRS tag can be used to specify one or more directories that
-# contain dia files that are included in the documentation (see the \diafile
-# command).
-
-DIAFILE_DIRS =
-
-# When using plantuml, the PLANTUML_JAR_PATH tag should be used to specify the
-# path where java can find the plantuml.jar file or to the filename of jar file
-# to be used. If left blank, it is assumed PlantUML is not used or called during
-# a preprocessing step. Doxygen will generate a warning when it encounters a
-# \startuml command in this case and will not generate output for the diagram.
-
-PLANTUML_JAR_PATH =
-
-# When using plantuml, the PLANTUML_CFG_FILE tag can be used to specify a
-# configuration file for plantuml.
-
-PLANTUML_CFG_FILE =
-
-# When using plantuml, the specified paths are searched for files specified by
-# the !include statement in a plantuml block.
-
-PLANTUML_INCLUDE_PATH =
-
-# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of nodes
-# that will be shown in the graph. If the number of nodes in a graph becomes
-# larger than this value, doxygen will truncate the graph, which is visualized
-# by representing a node as a red box. Note that doxygen if the number of direct
-# children of the root node in a graph is already larger than
-# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note that
-# the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
-# Minimum value: 0, maximum value: 10000, default value: 50.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-DOT_GRAPH_MAX_NODES = 50
-
-# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the graphs
-# generated by dot. A depth value of 3 means that only nodes reachable from the
-# root by following a path via at most 3 edges will be shown. Nodes that lay
-# further from the root node will be omitted. Note that setting this option to 1
-# or 2 may greatly reduce the computation time needed for large code bases. Also
-# note that the size of a graph can be further restricted by
-# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
-# Minimum value: 0, maximum value: 1000, default value: 0.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-MAX_DOT_GRAPH_DEPTH = 0
-
-# Set the DOT_MULTI_TARGETS tag to YES to allow dot to generate multiple output
-# files in one run (i.e. multiple -o and -T options on the command line). This
-# makes dot run faster, but since only newer versions of dot (>1.8.10) support
-# this, this feature is disabled by default.
-# The default value is: NO.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-DOT_MULTI_TARGETS = NO
-
-# If the GENERATE_LEGEND tag is set to YES doxygen will generate a legend page
-# explaining the meaning of the various boxes and arrows in the dot generated
-# graphs.
-# Note: This tag requires that UML_LOOK isn't set, i.e. the doxygen internal
-# graphical representation for inheritance and collaboration diagrams is used.
-# The default value is: YES.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-GENERATE_LEGEND = YES
-
-# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate
-# files that are used to generate the various graphs.
-#
-# Note: This setting is not only used for dot files but also for msc temporary
-# files.
-# The default value is: YES.
-
-DOT_CLEANUP = YES
-
-# You can define message sequence charts within doxygen comments using the \msc
-# command. If the MSCGEN_TOOL tag is left empty (the default), then doxygen will
-# use a built-in version of mscgen tool to produce the charts. Alternatively,
-# the MSCGEN_TOOL tag can also specify the name an external tool. For instance,
-# specifying prog as the value, doxygen will call the tool as prog -T
-# <outfile_format> -o <outputfile> <inputfile>. The external tool should support
-# output file formats "png", "eps", "svg", and "ismap".
-
-MSCGEN_TOOL =
-
-# The MSCFILE_DIRS tag can be used to specify one or more directories that
-# contain msc files that are included in the documentation (see the \mscfile
-# command).
-
-MSCFILE_DIRS =
diff --git a/DoxyGen/Doxyfile.meta b/DoxyGen/Doxyfile.meta
deleted file mode 100644
index 70f2192..0000000
--- a/DoxyGen/Doxyfile.meta
+++ /dev/null
@@ -1,7 +0,0 @@
-fileFormatVersion: 2
-guid: db5f4144ac032d649994939f1d833737
-DefaultImporter:
- externalObjects: {}
- userData:
- assetBundleName:
- assetBundleVariant:
diff --git a/DoxyGen/DoxygenLayout.xml b/DoxyGen/DoxygenLayout.xml
deleted file mode 100644
index 273c519..0000000
--- a/DoxyGen/DoxygenLayout.xml
+++ /dev/null
@@ -1,226 +0,0 @@
-<doxygenlayout version="1.0">
- <!-- Generated by doxygen 1.8.18 -->
- <!-- Navigation index tabs for HTML output -->
- <navindex>
- <tab type="mainpage" visible="yes" title=""/>
- <tab type="pages" visible="yes" title="" intro=""/>
- <tab type="modules" visible="yes" title="" intro=""/>
- <tab type="namespaces" visible="yes" title="">
- <tab type="namespacelist" visible="yes" title="" intro=""/>
- <tab type="namespacemembers" visible="yes" title="" intro=""/>
- </tab>
- <tab type="interfaces" visible="yes" title="">
- <tab type="interfacelist" visible="yes" title="" intro=""/>
- <tab type="interfaceindex" visible="$ALPHABETICAL_INDEX" title=""/>
- <tab type="interfacehierarchy" visible="yes" title="" intro=""/>
- </tab>
- <tab type="classes" visible="yes" title="">
- <tab type="classlist" visible="yes" title="" intro=""/>
- <tab type="classindex" visible="$ALPHABETICAL_INDEX" title=""/>
- <tab type="hierarchy" visible="yes" title="" intro=""/>
- <tab type="classmembers" visible="yes" title="" intro=""/>
- </tab>
- <tab type="structs" visible="yes" title="">
- <tab type="structlist" visible="yes" title="" intro=""/>
- <tab type="structindex" visible="$ALPHABETICAL_INDEX" title=""/>
- </tab>
- <tab type="exceptions" visible="yes" title="">
- <tab type="exceptionlist" visible="yes" title="" intro=""/>
- <tab type="exceptionindex" visible="$ALPHABETICAL_INDEX" title=""/>
- <tab type="exceptionhierarchy" visible="yes" title="" intro=""/>
- </tab>
- <tab type="files" visible="yes" title="">
- <tab type="filelist" visible="yes" title="" intro=""/>
- <tab type="globals" visible="yes" title="" intro=""/>
- </tab>
- <tab type="examples" visible="yes" title="" intro=""/>
- </navindex>
-
- <!-- Layout definition for a class page -->
- <class>
- <briefdescription visible="no"/>
- <detaileddescription title=""/>
- <includes visible="$SHOW_INCLUDE_FILES"/>
- <inheritancegraph visible="$CLASS_GRAPH"/>
- <collaborationgraph visible="$COLLABORATION_GRAPH"/>
- <memberdecl>
- <nestedclasses visible="yes" title=""/>
- <publictypes title=""/>
- <services title=""/>
- <interfaces title=""/>
- <publicslots title=""/>
- <signals title=""/>
- <publicmethods title=""/>
- <publicstaticmethods title=""/>
- <publicattributes title=""/>
- <publicstaticattributes title=""/>
- <protectedtypes title=""/>
- <protectedslots title=""/>
- <protectedmethods title=""/>
- <protectedstaticmethods title=""/>
- <protectedattributes title=""/>
- <protectedstaticattributes title=""/>
- <packagetypes title=""/>
- <packagemethods title=""/>
- <packagestaticmethods title=""/>
- <packageattributes title=""/>
- <packagestaticattributes title=""/>
- <properties title=""/>
- <events title=""/>
- <privatetypes title=""/>
- <privateslots title=""/>
- <privatemethods title=""/>
- <privatestaticmethods title=""/>
- <privateattributes title=""/>
- <privatestaticattributes title=""/>
- <friends title=""/>
- <related title="" subtitle=""/>
- <membergroups visible="yes"/>
- </memberdecl>
- <memberdef>
- <inlineclasses title=""/>
- <typedefs title=""/>
- <enums title=""/>
- <services title=""/>
- <interfaces title=""/>
- <constructors title=""/>
- <functions title=""/>
- <related title=""/>
- <variables title=""/>
- <properties title=""/>
- <events title=""/>
- </memberdef>
- <allmemberslink visible="yes"/>
- <usedfiles visible="$SHOW_USED_FILES"/>
- <authorsection visible="yes"/>
- </class>
-
- <!-- Layout definition for a namespace page -->
- <namespace>
- <briefdescription visible="yes"/>
- <memberdecl>
- <nestednamespaces visible="yes" title=""/>
- <constantgroups visible="yes" title=""/>
- <interfaces visible="yes" title=""/>
- <classes visible="yes" title=""/>
- <structs visible="yes" title=""/>
- <exceptions visible="yes" title=""/>
- <typedefs title=""/>
- <sequences title=""/>
- <dictionaries title=""/>
- <enums title=""/>
- <functions title=""/>
- <variables title=""/>
- <membergroups visible="yes"/>
- </memberdecl>
- <detaileddescription title=""/>
- <memberdef>
- <inlineclasses title=""/>
- <typedefs title=""/>
- <sequences title=""/>
- <dictionaries title=""/>
- <enums title=""/>
- <functions title=""/>
- <variables title=""/>
- </memberdef>
- <authorsection visible="yes"/>
- </namespace>
-
- <!-- Layout definition for a file page -->
- <file>
- <briefdescription visible="yes"/>
- <includes visible="$SHOW_INCLUDE_FILES"/>
- <includegraph visible="$INCLUDE_GRAPH"/>
- <includedbygraph visible="$INCLUDED_BY_GRAPH"/>
- <sourcelink visible="yes"/>
- <memberdecl>
- <interfaces visible="yes" title=""/>
- <classes visible="yes" title=""/>
- <structs visible="yes" title=""/>
- <exceptions visible="yes" title=""/>
- <namespaces visible="yes" title=""/>
- <constantgroups visible="yes" title=""/>
- <defines title=""/>
- <typedefs title=""/>
- <sequences title=""/>
- <dictionaries title=""/>
- <enums title=""/>
- <functions title=""/>
- <variables title=""/>
- <membergroups visible="yes"/>
- </memberdecl>
- <detaileddescription title=""/>
- <memberdef>
- <inlineclasses title=""/>
- <defines title=""/>
- <typedefs title=""/>
- <sequences title=""/>
- <dictionaries title=""/>
- <enums title=""/>
- <functions title=""/>
- <variables title=""/>
- </memberdef>
- <authorsection/>
- </file>
-
- <!-- Layout definition for a group page -->
- <group>
- <briefdescription visible="yes"/>
- <groupgraph visible="$GROUP_GRAPHS"/>
- <memberdecl>
- <nestedgroups visible="yes" title=""/>
- <dirs visible="yes" title=""/>
- <files visible="yes" title=""/>
- <namespaces visible="yes" title=""/>
- <classes visible="yes" title=""/>
- <defines title=""/>
- <typedefs title=""/>
- <sequences title=""/>
- <dictionaries title=""/>
- <enums title=""/>
- <enumvalues title=""/>
- <functions title=""/>
- <variables title=""/>
- <signals title=""/>
- <publicslots title=""/>
- <protectedslots title=""/>
- <privateslots title=""/>
- <events title=""/>
- <properties title=""/>
- <friends title=""/>
- <membergroups visible="yes"/>
- </memberdecl>
- <detaileddescription title=""/>
- <memberdef>
- <pagedocs/>
- <inlineclasses title=""/>
- <defines title=""/>
- <typedefs title=""/>
- <sequences title=""/>
- <dictionaries title=""/>
- <enums title=""/>
- <enumvalues title=""/>
- <functions title=""/>
- <variables title=""/>
- <signals title=""/>
- <publicslots title=""/>
- <protectedslots title=""/>
- <privateslots title=""/>
- <events title=""/>
- <properties title=""/>
- <friends title=""/>
- </memberdef>
- <authorsection visible="yes"/>
- </group>
-
- <!-- Layout definition for a directory page -->
- <directory>
- <briefdescription visible="yes"/>
- <directorygraph visible="yes"/>
- <memberdecl>
- <dirs visible="yes"/>
- <files visible="yes"/>
- </memberdecl>
- <detaileddescription title=""/>
- </directory>
-</doxygenlayout>
diff --git a/DoxyGen/DoxygenLayout.xml.meta b/DoxyGen/DoxygenLayout.xml.meta
deleted file mode 100644
index efc816b..0000000
--- a/DoxyGen/DoxygenLayout.xml.meta
+++ /dev/null
@@ -1,7 +0,0 @@
-fileFormatVersion: 2
-guid: dd31613f75db97f4ca4d408bfce69746
-TextScriptImporter:
- externalObjects: {}
- userData:
- assetBundleName:
- assetBundleVariant:
diff --git a/DoxyGen/custom_doxygen.css b/DoxyGen/custom_doxygen.css
deleted file mode 100644
index 1ff3d3c..0000000
--- a/DoxyGen/custom_doxygen.css
+++ /dev/null
@@ -1,12 +0,0 @@
-/* Custom PasserVR CSS for DoxyGen */
-
-a {
- color: #e77505;
-}
-.contents a:visited {
- color: #e77505;
-}
-
-a:hover {
- color: #10659C;
-}
\ No newline at end of file
diff --git a/DoxyGen/custom_doxygen.css.meta b/DoxyGen/custom_doxygen.css.meta
deleted file mode 100644
index 40ede28..0000000
--- a/DoxyGen/custom_doxygen.css.meta
+++ /dev/null
@@ -1,7 +0,0 @@
-fileFormatVersion: 2
-guid: 186de70a0b3d098409ce1a5ec887b1ae
-DefaultImporter:
- externalObjects: {}
- userData:
- assetBundleName:
- assetBundleVariant:
diff --git a/Examples/BB2B/BB2B.csproj b/Examples/BB2B/BB2B.csproj
deleted file mode 100644
index 3499cad..0000000
--- a/Examples/BB2B/BB2B.csproj
+++ /dev/null
@@ -1,11 +0,0 @@
-<Project Sdk="Microsoft.NET.Sdk">
-
- <PropertyGroup>
- <OutputType>Exe</OutputType>
- <TargetFramework>net5.0</TargetFramework>
- </PropertyGroup>
-
- <ItemGroup>
- <ProjectReference Include="..\..\src\RoboidControl.csproj" />
- </ItemGroup>
-</Project>
diff --git a/Examples/BB2B/Program.cs b/Examples/BB2B/Program.cs
deleted file mode 100644
index d30d335..0000000
--- a/Examples/BB2B/Program.cs
+++ /dev/null
@@ -1,35 +0,0 @@
-using System;
-using System.Diagnostics;
-using System.Threading;
-using RoboidControl;
-
-class BB2B {
- static void Main() {
- // The robot's propulsion is a differential drive
- DifferentialDrive bb2b = new DifferentialDrive();
- // Is has a touch sensor at the front left of the roboid
- TouchSensor touchLeft = new TouchSensor(bb2b);
- // and other one on the right
- TouchSensor touchRight = new TouchSensor(bb2b);
-
- // Do forever:
- while (true) {
- Console.Write("A");
- // The left wheel turns forward when nothing is touched on the right side
- // and turn backward when the roboid hits something on the right
- float leftWheelSpeed = (touchRight.touchedSomething) ? -600.0f : 600.0f;
- // The right wheel does the same, but instead is controlled by
- // touches on the left side
- float rightWheelSpeed = (touchLeft.touchedSomething) ? -600.0f : 600.0f;
- // When both sides are touching something, both wheels will turn backward
- // and the roboid will move backwards
- bb2b.SetWheelVelocity(leftWheelSpeed, rightWheelSpeed);
-
- // Update the roboid state
- bb2b.Update(true);
-
- // and sleep for 100ms
- Thread.Sleep(100);
- }
- }
-}
\ No newline at end of file
diff --git a/README.md b/README.md
deleted file mode 100644
index a094cee..0000000
--- a/README.md
+++ /dev/null
@@ -1,10 +0,0 @@
-\mainpage Roboid Control for C#
-
-Roboid Control support for C# applications.
-Includes support for the Unity game engine.
-
-# Basic components
-
-- Passer::RoboidControl::Thing
-- Passer::RoboidControl::Participant
-- Passer::RoboidControl::SiteServer
\ No newline at end of file
diff --git a/RoboidControl.sln b/RoboidControl.sln
deleted file mode 100644
index daf2834..0000000
--- a/RoboidControl.sln
+++ /dev/null
@@ -1,39 +0,0 @@
-
-Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio Version 17
-VisualStudioVersion = 17.0.31903.59
-MinimumVisualStudioVersion = 10.0.40219.1
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "test", "test\test.csproj", "{B65BB41E-5A93-46FC-BA68-B865F50D57BD}"
-EndProject
-Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Examples", "Examples", "{D6086F71-404B-4D18-BBE9-45947ED33DB2}"
-EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BB2B", "Examples\BB2B\BB2B.csproj", "{488F28B2-A2CC-4E32-8D3B-7DB4EB1485F9}"
-EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RoboidControl", "src\RoboidControl.csproj", "{72BFCD03-FA78-4D0B-8B36-32301D60D6DD}"
-EndProject
-Global
- GlobalSection(SolutionConfigurationPlatforms) = preSolution
- Debug|Any CPU = Debug|Any CPU
- Release|Any CPU = Release|Any CPU
- EndGlobalSection
- GlobalSection(SolutionProperties) = preSolution
- HideSolutionNode = FALSE
- EndGlobalSection
- GlobalSection(ProjectConfigurationPlatforms) = postSolution
- {B65BB41E-5A93-46FC-BA68-B865F50D57BD}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
- {B65BB41E-5A93-46FC-BA68-B865F50D57BD}.Debug|Any CPU.Build.0 = Debug|Any CPU
- {B65BB41E-5A93-46FC-BA68-B865F50D57BD}.Release|Any CPU.ActiveCfg = Release|Any CPU
- {B65BB41E-5A93-46FC-BA68-B865F50D57BD}.Release|Any CPU.Build.0 = Release|Any CPU
- {488F28B2-A2CC-4E32-8D3B-7DB4EB1485F9}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
- {488F28B2-A2CC-4E32-8D3B-7DB4EB1485F9}.Debug|Any CPU.Build.0 = Debug|Any CPU
- {488F28B2-A2CC-4E32-8D3B-7DB4EB1485F9}.Release|Any CPU.ActiveCfg = Release|Any CPU
- {488F28B2-A2CC-4E32-8D3B-7DB4EB1485F9}.Release|Any CPU.Build.0 = Release|Any CPU
- {72BFCD03-FA78-4D0B-8B36-32301D60D6DD}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
- {72BFCD03-FA78-4D0B-8B36-32301D60D6DD}.Debug|Any CPU.Build.0 = Debug|Any CPU
- {72BFCD03-FA78-4D0B-8B36-32301D60D6DD}.Release|Any CPU.ActiveCfg = Release|Any CPU
- {72BFCD03-FA78-4D0B-8B36-32301D60D6DD}.Release|Any CPU.Build.0 = Release|Any CPU
- EndGlobalSection
- GlobalSection(NestedProjects) = preSolution
- {488F28B2-A2CC-4E32-8D3B-7DB4EB1485F9} = {D6086F71-404B-4D18-BBE9-45947ED33DB2}
- EndGlobalSection
-EndGlobal
diff --git a/Unity/DebugConsole.cs b/Unity/DebugConsole.cs
deleted file mode 100644
index 70b587a..0000000
--- a/Unity/DebugConsole.cs
+++ /dev/null
@@ -1,25 +0,0 @@
-#if UNITY_5_3_OR_NEWER
-using System.IO;
-using System.Text;
-using UnityEngine;
-
-namespace RoboidControl.Unity {
-
- public class UnityLogWriter : TextWriter {
- public override void Write(char value) {
- Debug.Log(value);
- }
-
- public override void Write(string value) {
- Debug.Log(value);
- }
-
- public override void WriteLine(string value) {
- Debug.Log(value);
- }
-
- public override Encoding Encoding => Encoding.UTF8;
- }
-
-}
-#endif
\ No newline at end of file
diff --git a/Unity/DistanceSensor.cs b/Unity/DistanceSensor.cs
deleted file mode 100644
index e27e2f7..0000000
--- a/Unity/DistanceSensor.cs
+++ /dev/null
@@ -1,67 +0,0 @@
-#if UNITY_5_3_OR_NEWER
-using System.Collections;
-using UnityEngine;
-
-namespace RoboidControl.Unity {
-
- /// <summary>
- /// The Unity representation of a distance sensor
- /// </summary>
- public class DistanceSensor : Thing {
-
- /// <summary>
- /// The core distance sensor
- /// </summary>
- public new RoboidControl.DistanceSensor core {
- get => (RoboidControl.DistanceSensor)base.core;
- set => base.core = value;
- }
-
- /// <summary>
- /// Start the Unity representation
- /// </summary>
- protected virtual void Start() {
- if (core == null) {
- SiteServer siteServer = FindAnyObjectByType<SiteServer>();
- SetCoreThing(new RoboidControl.DistanceSensor(siteServer.site));
- }
-
- StartCoroutine(MeasureDistance());
- }
-
- /// <summary>
- /// Create the Unity representation of the distance sensor
- /// </summary>
- /// <param name="parent">The parent of the core distance sensor</param>
- /// <returns>The Unity representation of the distance sensor</returns>
- public static DistanceSensor Create(RoboidControl.DistanceSensor core) {
- GameObject distanceObj = new("Distance sensor");
- DistanceSensor component = distanceObj.AddComponent<DistanceSensor>();
- if (core.parent != null && core.parent.component != null)
- distanceObj.transform.SetParent(core.parent.component.transform, false);
-
- return component;
- }
-
- /// <summary>
- /// Periodically measure the distance
- /// </summary>
- /// <returns></returns>
- IEnumerator MeasureDistance() {
- while (Application.isPlaying) {
- if (Physics.Raycast(this.transform.position, this.transform.forward, out RaycastHit hitInfo, 2.0f)) {
- Thing thing = hitInfo.transform.GetComponentInParent<Thing>();
- if (thing == null) {
- // Debug.Log($"collision {hitInfo.transform.name} {hitInfo.distance}");
- core.distance = hitInfo.distance;
- }
- else
- core.distance = 0;
- }
- yield return new WaitForSeconds(0.1f);
- }
- }
-
- }
-}
-#endif
\ No newline at end of file
diff --git a/Unity/SiteServer.cs b/Unity/SiteServer.cs
deleted file mode 100644
index 54b0ea9..0000000
--- a/Unity/SiteServer.cs
+++ /dev/null
@@ -1,38 +0,0 @@
-#if UNITY_5_3_OR_NEWER
-using System;
-using System.Collections.Generic;
-using UnityEngine;
-
-namespace RoboidControl.Unity {
-
- public class SiteServer : MonoBehaviour {
- public RoboidControl.SiteServer site;
-
- public Queue<RoboidControl.Thing> thingQueue = new();
-
- protected virtual void Awake() {
- Console.SetOut(new UnityLogWriter());
-
- site = new RoboidControl.SiteServer(7681);
- RoboidControl.Thing.OnNewThing += HandleNewThing;
- }
-
- void OnApplicationQuit() {
- site.Close();
- }
-
- public void HandleNewThing(RoboidControl.Thing thing) {
- //Debug.Log("Handle New thing event");
- site.Add(thing, false);
- thingQueue.Enqueue(thing);
- }
-
- protected virtual void Update() {
- site.Update((ulong)(Time.time * 1000));
- while (thingQueue.TryDequeue(out RoboidControl.Thing thing))
- thing.CreateComponent();
- }
- }
-
-}
-#endif
\ No newline at end of file
diff --git a/Unity/Thing.cs b/Unity/Thing.cs
deleted file mode 100644
index 6e94294..0000000
--- a/Unity/Thing.cs
+++ /dev/null
@@ -1,115 +0,0 @@
-#if UNITY_5_3_OR_NEWER
-using System.Collections;
-using UnityEngine;
-using UnityEngine.Networking;
-
-namespace RoboidControl.Unity {
-
- /// <summary>
- /// The representation of a Thing in Unity
- /// </summary>
- public class Thing : MonoBehaviour {
-
- /// <summary>
- /// The core C# thing
- /// </summary>
- [field: SerializeField]
- public RoboidControl.Thing core { get; set; }
-
- private string modelUrl = null;
-
- /// <summary>
- /// Set the core C# thing
- /// </summary>
- protected void SetCoreThing(RoboidControl.Thing thing) {
- core = thing;
- core.component = this;
-
- SiteServer siteServer = FindAnyObjectByType<SiteServer>();
- if (siteServer == null) {
- Debug.LogWarning("No site server found");
- return;
- }
- siteServer.site.Add(thing);
-
- }
-
- public static Thing Create(RoboidControl.Thing core) {
- // Debug.Log("Creating new Unity thing");
- GameObject gameObj = string.IsNullOrEmpty(core.name) ?
- new("Thing") :
- new(core.name);
- Thing component = gameObj.AddComponent<Thing>();
-
- component.core = core;
- if (core.parent != null && core.parent.component != null)
- gameObj.transform.SetParent(core.parent.component.transform, false);
-
- if (core.position != null)
- gameObj.transform.localPosition = core.position.ToVector3();
-
- return component;
- }
-
- /// <summary>
- /// Update the Unity representation
- /// </summary>
- protected virtual void Update() {
- if (core == null)
- return;
-
- if (core.linearVelocity != null) {
- Vector3 direction = Quaternion.AngleAxis(core.linearVelocity.direction.horizontal, Vector3.up) * Vector3.forward;
- this.transform.Translate(core.linearVelocity.distance * Time.deltaTime * direction, Space.Self);
- }
- if (core.angularVelocity != null) {
- Vector3 angularVelocity = core.angularVelocity.ToVector3();
- this.transform.localRotation *= Quaternion.Euler(angularVelocity * Time.deltaTime);
- }
-
- if (core.hasPosition)
- this.transform.localPosition = core.position.ToVector3();
- //this.transform.localRotation = core.orientation.ToQuaternion();
-
- if (!string.IsNullOrEmpty(core.modelUrl) && this.modelUrl == null) {
- string extension = core.modelUrl.Substring(core.modelUrl.LastIndexOf("."));
- if (extension == ".jpg" || extension == ".png") {
- StartCoroutine(LoadJPG());
- }
-
- this.modelUrl = core.modelUrl;
- }
- }
-
- private IEnumerator LoadJPG() {
- UnityWebRequest request = UnityWebRequestTexture.GetTexture(core.modelUrl);
- yield return request.SendWebRequest();
-
- if (request.result == UnityWebRequest.Result.Success) {
- Texture2D texture = ((DownloadHandlerTexture)request.downloadHandler).texture;
- float aspectRatio = (float)texture.width / (float)texture.height;
-
- GameObject modelQuad = GameObject.CreatePrimitive(PrimitiveType.Quad);
- Collider c = modelQuad.GetComponent<Collider>();
- c.enabled = false;
- Destroy(c);
- modelQuad.transform.SetParent(this.transform, false);
- modelQuad.transform.localEulerAngles = new(90, -90, 0);
- modelQuad.transform.localScale = new Vector3(aspectRatio, 1, 1) / 5;
- if (this.name == "Ant")
- modelQuad.transform.localScale *= 2;
- Material quadMaterial = new(Shader.Find("Unlit/Transparent")) {
- mainTexture = texture
- };
- modelQuad.GetComponent<Renderer>().material = quadMaterial;
- }
- else {
- Debug.LogError("Failed to load image: " + request.error);
- }
- }
-
-
- }
-
-}
-#endif
\ No newline at end of file
diff --git a/Unity/TouchSensor.cs b/Unity/TouchSensor.cs
deleted file mode 100644
index 5f8d8ec..0000000
--- a/Unity/TouchSensor.cs
+++ /dev/null
@@ -1,87 +0,0 @@
-#if UNITY_5_3_OR_NEWER
-using UnityEngine;
-
-namespace RoboidControl.Unity {
-
- /// <summary>
- /// The Unity representation of the TouchSensor
- /// </summary>
- public class TouchSensor : Thing {
-
- public SiteServer participant;
- /// <summary>
- /// The core touch sensor
- /// </summary>
- public RoboidControl.TouchSensor coreSensor {
- get => (RoboidControl.TouchSensor)base.core;
- }
-
- /// <summary>
- /// Start the Unity represention
- /// </summary>
- protected virtual void Start() {
- if (core == null) {
- participant = FindAnyObjectByType<SiteServer>();
- SetCoreThing(new RoboidControl.TouchSensor(participant.site));
- }
- // Somehow this does not work.
-
- // Rigidbody rb = GetComponentInParent<Rigidbody>();
- // if (rb == null) {
- // RoboidControl.Thing thing = core;
- // while (thing.parent != null)
- // thing = thing.parent;
-
- // Thing unityThing = thing.component;
- // rb = unityThing.gameObject.AddComponent<Rigidbody>();
- // rb.isKinematic = true;
- // }
- }
-
- /// <summary>
- /// Create the Unity representation
- /// </summary>
- /// <param name="core">The core touch sensor</param>
- /// <returns>The Unity representation of the touch sensor</returns>
- public static TouchSensor Create(RoboidControl.TouchSensor core) {
- GameObject gameObj = core.name != null ?
- new(core.name) :
- new("Touch Sensor");
- TouchSensor component = gameObj.AddComponent<TouchSensor>();
- Rigidbody rb = gameObj.AddComponent<Rigidbody>();
- rb.isKinematic = true;
-
- SphereCollider collider = gameObj.AddComponent<SphereCollider>();
- collider.radius = 0.01F;
- collider.isTrigger = true;
-
- component.core = core;
- component.participant = FindAnyObjectByType<SiteServer>();
- core.thisParticipant = component.participant.site;
-
- if (core.parent != null && core.parent.component != null)
- gameObj.transform.SetParent(core.parent.component.transform, false);
-
- if (core.position != null)
- gameObj.transform.localPosition = core.position.ToVector3();
-
- return component;
- }
-
- private void OnTriggerEnter(Collider other) {
- if (other.isTrigger)
- return;
- if (this.transform.root == other.transform.root)
- return;
-
- this.coreSensor.touchedSomething = true;
- }
- private void OnTriggerExit(Collider other) {
- if (other.isTrigger)
- return;
-
- this.coreSensor.touchedSomething = false;
- }
- }
-}
-#endif
\ No newline at end of file
diff --git a/src/Angle.cs b/src/Angle.cs
new file mode 100644
index 0000000..78ae979
--- /dev/null
+++ b/src/Angle.cs
@@ -0,0 +1,110 @@
+using System;
+
+namespace Passer.LinearAlgebra {
+
+ /// <summary>
+ /// %Angle utilities
+ /// </summary>
+ public static class Angle {
+ public const float pi = 3.1415927410125732421875F;
+ // public static float Rad2Deg = 360.0f / ((float)Math.PI * 2);
+ // public static float Deg2Rad = ((float)Math.PI * 2) / 360.0f;
+
+ public const float Deg2Rad = 360.0f / ((float)Math.PI * 2); //0.0174532924F;
+ public const float Rad2Deg = ((float)Math.PI * 2) / 360.0f; //57.29578F;
+
+ /// <summary>
+ /// Clamp the angle between the given min and max values
+ /// </summary>
+ /// <param name="angle">The angle to clamp</param>
+ /// <param name="min">The minimum angle</param>
+ /// <param name="max">The maximum angle</param>
+ /// <returns>The clamped angle</returns>
+ /// Angles are normalized
+ public static float Clamp(float angle, float min, float max) {
+ float normalizedAngle = Normalize(angle);
+ return Float.Clamp(normalizedAngle, min, max);
+ }
+
+ /// <summary>
+ /// Determine the angle difference, result is a normalized angle
+ /// </summary>
+ /// <param name="a">First first angle</param>
+ /// <param name="b">The second angle</param>
+ /// <returns>the angle between the two angles</returns>
+ /// Angle values should be degrees
+ public static float Difference(float a, float b) {
+ float r = Normalize(b - a);
+ return r;
+ }
+
+ /// <summary>
+ /// Normalize an angle to the range -180 < angle <= 180
+ /// </summary>
+ /// <param name="angle">The angle to normalize</param>
+ /// <returns>The normalized angle in interval (-180..180] </returns>
+ /// Angle values should be in degrees
+ public static float Normalize(float angle) {
+ if (float.IsInfinity(angle))
+ return angle;
+
+ while (angle <= -180) angle += 360;
+ while (angle > 180) angle -= 360;
+ return angle;
+ }
+
+ /// <summary>
+ /// Rotate from one angle to the other with a maximum degrees
+ /// </summary>
+ /// <param name="fromAngle">Starting angle</param>
+ /// <param name="toAngle">Target angle</param>
+ /// <param name="maxAngle">Maximum angle to rotate</param>
+ /// <returns>The resulting angle</returns>
+ /// This function is compatible with radian and degrees angles
+ public static float MoveTowards(float fromAngle, float toAngle, float maxAngle) {
+ float d = toAngle - fromAngle;
+ d = Normalize(d);
+ d = Math.Sign(d) * Float.Clamp(Math.Abs(d), 0, maxAngle);
+ return fromAngle + d;
+ }
+
+ /// <summary>
+ /// Map interval of angles between vectors [0..Pi] to interval [0..1]
+ /// </summary>
+ /// <param name="v1">The first vector</param>
+ /// <param name="v2">The second vector</param>
+ /// <returns>The resulting factor in interval [0..1]</returns>
+ /// Vectors a and b must be normalized
+ /// \deprecated Please use Vector2.ToFactor instead.
+ [Obsolete("Please use Vector2.ToFactor instead.")]
+ public static float ToFactor(Vector2 v1, Vector2 v2) {
+ return (1 - Vector2.Dot(v1, v2)) / 2;
+ }
+
+ // Normalize all vector angles to the range -180 < angle < 180
+ //public static Vector3 Normalize(Vector3 angles) {
+ // float x = Normalize(angles.x);
+ // float y = Normalize(angles.y);
+ // float z = Normalize(angles.z);
+ // return new Vector3(x, y, z);
+ //}
+
+ // Returns the signed angle in degrees between from and to.
+ //public static float SignedAngle(Vector3 from, Vector3 to) {
+ // float angle = Vector3.Angle(from, to);
+ // Vector3 cross = Vector3.Cross(from, to);
+ // if (cross.y < 0) angle = -angle;
+ // return angle;
+ //}
+
+ // Returns the signed angle in degrees between from and to.
+ //public static float SignedAngle(Vector2 from, Vector2 to) {
+ // float sign = Math.Sign(from.y * to.x - from.x * to.y);
+ // return Vector2.Angle(from, to) * sign;
+ //}
+
+ //public static Quaternion ToQuaternion(Rotation orientation) {
+ // return new Quaternion(orientation.x, orientation.y, orientation.z, orientation.w);
+ //}
+ }
+}
\ No newline at end of file
diff --git a/src/LinearAlgebra/Direction.cs b/src/Direction.cs
similarity index 100%
rename from src/LinearAlgebra/Direction.cs
rename to src/Direction.cs
diff --git a/src/Float.cs b/src/Float.cs
new file mode 100644
index 0000000..4959b75
--- /dev/null
+++ b/src/Float.cs
@@ -0,0 +1,41 @@
+namespace Passer.LinearAlgebra {
+
+ /// <summary>
+ /// Float number utilities
+ /// </summary>
+ public class Float {
+ /// <summary>
+ /// The precision of float numbers
+ /// </summary>
+ public const float epsilon = 1E-05f;
+ /// <summary>
+ /// The square of the float number precision
+ /// </summary>
+ public const float sqrEpsilon = 1e-10f;
+
+ /// <summary>
+ /// Clamp the value between the given minimum and maximum values
+ /// </summary>
+ /// <param name="f">The value to clamp</param>
+ /// <param name="min">The minimum value</param>
+ /// <param name="max">The maximum value</param>
+ /// <returns>The clamped value</returns>
+ public static float Clamp(float f, float min, float max) {
+ if (f < min)
+ return min;
+ if (f > max)
+ return max;
+ return f;
+ }
+
+ /// <summary>
+ /// Clamp the value between to the interval [0..1]
+ /// </summary>
+ /// <param name="f">The value to clamp</param>
+ /// <returns>The clamped value</returns>
+ public static float Clamp01(float f) {
+ return Clamp(f, 0, 1);
+ }
+ }
+
+}
\ No newline at end of file
diff --git a/src/RoboidControl.csproj b/src/LinearAlgebra.csproj
similarity index 91%
rename from src/RoboidControl.csproj
rename to src/LinearAlgebra.csproj
index feb0b62..14d3947 100644
--- a/src/RoboidControl.csproj
+++ b/src/LinearAlgebra.csproj
@@ -1,4 +1,4 @@
-<Project Sdk="Microsoft.NET.Sdk">
+<Project Sdk="Microsoft.NET.Sdk">
<PropertyGroup>
<GenerateAssemblyInfo>false</GenerateAssemblyInfo>
diff --git a/src/LinearAlgebra/Angle.cs b/src/LinearAlgebra/Angle.cs
deleted file mode 100644
index 0c23840..0000000
--- a/src/LinearAlgebra/Angle.cs
+++ /dev/null
@@ -1,11 +0,0 @@
-using System;
-
-namespace Passer.LinearAlgebra {
-
- public class Angle {
- public const float pi = 3.1415927410125732421875F;
- public static float Rad2Deg = 360.0f / ((float)Math.PI * 2);
- public static float Deg2Rad = ((float)Math.PI * 2) / 360.0f;
- }
-
-}
\ No newline at end of file
diff --git a/src/LinearAlgebra/Vector2.cs b/src/LinearAlgebra/Vector2.cs
deleted file mode 100644
index e76d12a..0000000
--- a/src/LinearAlgebra/Vector2.cs
+++ /dev/null
@@ -1,51 +0,0 @@
-using System;
-using System.Numerics;
-
-namespace Passer.LinearAlgebra {
-
- public class Vector2Of<T> where T : IComparable<T> {
- public T x;
- public T y;
-
- public Vector2Of(T x, T y) {
- this.x = x;
- this.y = y;
- }
- }
-
- public class Vector2Int : Vector2Of<int> {
- public Vector2Int(int x, int y) : base(x, y) { }
-
- public static Vector2Int operator -(Vector2Int v1, Vector2Int v2) {
- return new Vector2Int(v1.x - v2.x, v1.y - v2.y);
- }
-
- public float magnitude {
- get {
- return (float)Math.Sqrt(this.x * this.x + this.y * this.y);
- }
- }
-
- public static float Distance(Vector2Int v1, Vector2Int v2) {
- return (v1 - v2).magnitude;
- }
- }
-
- public class Vector2Float : Vector2Of<float> {
- public Vector2Float(float x, float y) : base(x, y) { }
-
- public static Vector2Float operator -(Vector2Float v1, Vector2Float v2) {
- return new Vector2Float(v1.x - v2.x, v1.y - v2.y);
- }
-
- public float magnitude {
- get {
- return (float)Math.Sqrt(this.x * this.x + this.y * this.y);
- }
- }
-
- public static float Distance(Vector2Float v1, Vector2Float v2) {
- return (v1 - v2).magnitude;
- }
- }
-}
\ No newline at end of file
diff --git a/src/LinearAlgebra/Vector3.cs b/src/LinearAlgebra/Vector3.cs
deleted file mode 100644
index 0cc4d7b..0000000
--- a/src/LinearAlgebra/Vector3.cs
+++ /dev/null
@@ -1,33 +0,0 @@
-#if !UNITY_5_3_OR_NEWER
-using System;
-
-namespace Passer.LinearAlgebra {
- public class Vector3Of<T> {
- public T x;
- public T y;
- public T z;
-
- public Vector3Of(T x, T y, T z) {
- this.x = x;
- this.y = y;
- this.z = z;
- }
-
- // public uint magnitude {
- // get => (float)Math.Sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
- // }
- }
-
- public class Vector3Int : Vector3Of<int> {
- public Vector3Int(int x, int y, int z) : base(x, y, z) { }
- }
- public class Vector3Float : Vector3Of<float> {
- public Vector3Float(float x, float y, float z) : base(x, y, z) { }
-
- public float magnitude {
- get => (float)Math.Sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
- }
- }
-}
-
-#endif
\ No newline at end of file
diff --git a/src/LocalParticipant.cs b/src/LocalParticipant.cs
deleted file mode 100644
index 3350485..0000000
--- a/src/LocalParticipant.cs
+++ /dev/null
@@ -1,353 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Collections.Concurrent;
-using System.Net;
-using System.Net.Sockets;
-
-namespace RoboidControl {
-
- /// <summary>
- /// A participant is used for communcation between things
- /// </summary>
- public class LocalParticipant : Participant {
- public byte[] buffer = new byte[1024];
- public ulong publishInterval = 3000; // = 3 seconds
-
- public string name = "Participant";
-
- public IPEndPoint endPoint = null;
- public UdpClient udpClient = null;
- public string broadcastIpAddress = "255.255.255.255";
-
- public readonly ConcurrentQueue<IMessage> messageQueue = new ConcurrentQueue<IMessage>();
-
- #region Init
-
- /// <summary>
- /// Create a porticiapnt
- /// </summary>
- public LocalParticipant() {
- //senders.Add(this);
- }
-
- /// <summary>
- /// Create a participant with the give UDP port
- /// </summary>
- /// <param name="port">The port number on which to communicate</param>
- public LocalParticipant(int port) : this() {
- this.port = port;
- }
-
- /// <summary>
- /// Create a new participant for a site at the given address and port
- /// </summary>
- /// <param name="ipAddress">The ip address of the site server</param>
- /// <param name="port">The port number of the site server</param>
- public LocalParticipant(string ipAddress = "0.0.0.0", int port = 7681) : this() {
- this.ipAddress = ipAddress;
- this.port = port;
-
- this.udpClient = new UdpClient();
- this.udpClient.Client.Bind(new IPEndPoint(IPAddress.Any, port)); // local port
- // this.endPoint = new IPEndPoint(IPAddress.Parse(ipAddress), port); // for sending
-
- // this.udpClient = new UdpClient(port); // for receiving
- // this.udpClient.Client.Bind(new IPEndPoint(IPAddress.Any, port));
- this.udpClient.BeginReceive(new AsyncCallback(result => ReceiveUDP(result)), null);
- }
-
- /// <summary>
- /// Create a participant using the given udp client
- /// </summary>
- /// <param name="udpClient">UDP client to use for communication</param>
- /// <param name="port">The port number on which to communicate</param>
- public LocalParticipant(UdpClient udpClient, int port) : this() {
- this.udpClient = udpClient;
- this.port = port;
- }
-
- private static LocalParticipant isolatedParticipant = null;
- public static LocalParticipant Isolated() {
- if (isolatedParticipant == null)
- isolatedParticipant = new LocalParticipant(0);
- return isolatedParticipant;
- }
-
- public List<Participant> owners = new List<Participant>();
-
- public Participant GetParticipant(string ipAddress, int port) {
- //Console.WriteLine($"Get Participant {ipAddress}:{port}");
- foreach (Participant sender in owners) {
- if (sender.ipAddress == ipAddress && sender.port == port)
- return sender;
- }
- return null;
- }
- public Participant AddParticipant(string ipAddress, int port) {
- Console.WriteLine($"New Participant {ipAddress}:{port}");
- Participant participant = new(ipAddress, port) {
- networkId = (byte)(this.owners.Count + 1)
- };
- owners.Add(participant);
- return participant;
- }
-
- protected readonly Dictionary<byte, Func<Participant, byte, byte, Thing>> thingMsgProcessors = new();
-
- public delegate Thing ThingConstructor(Participant sender, byte networkId, byte thingId);
- public void Register(byte thingType, ThingConstructor constr) {
- thingMsgProcessors[thingType] = new Func<Participant, byte, byte, Thing>(constr);
- }
-
- public void Register<ThingClass>(Thing.Type thingType) where ThingClass : Thing {
- Register<ThingClass>((byte)thingType);
- }
-
- public void Register<ThingClass>(byte thingType) where ThingClass : Thing {
- thingMsgProcessors[thingType] = (participant, networkId, thingId) =>
- Activator.CreateInstance(typeof(ThingClass), participant, networkId, thingId) as ThingClass;
- Console.WriteLine($"Registering {typeof(ThingClass)} for thing type {thingType}");
- }
-
- #endregion Init
-
- #region Update
-
- protected void ReceiveUDP(IAsyncResult result) {
- if (this.udpClient == null || this.endPoint == null)
- return;
-
- byte[] data = this.udpClient.EndReceive(result, ref this.endPoint);
- // This does not yet take multi-packet messages into account!
- if (this.endPoint == null)
- return;
-
- // We can receive our own publish (broadcast) packages. How do we recognize them????
- // It is hard to determine our source port
- string ipAddress = this.endPoint.Address.ToString();
- Participant remoteParticipant = GetParticipant(ipAddress, this.endPoint.Port);
- remoteParticipant ??= AddParticipant(ipAddress, this.endPoint.Port);
-
- ReceiveData(data, remoteParticipant);
-
- udpClient.BeginReceive(new AsyncCallback(callbackResult => ReceiveUDP(callbackResult)), null);
- }
-
- protected ulong nextPublishMe = 0;
- public virtual void Update(ulong currentTimeMS = 0) {
- if (currentTimeMS == 0) {
-#if UNITY_5_3_OR_NEWER
- currentTimeMS = (ulong)(UnityEngine.Time.time * 1000);
-#endif
- }
-
- if (this.publishInterval > 0 && currentTimeMS > this.nextPublishMe) {
- Publish();
- // Console.WriteLine($"{this.name} Publish ClientMsg {this.networkId}");
- this.nextPublishMe = currentTimeMS + this.publishInterval;
- }
-
- int n = this.things.Count;
- for (int ix = 0; ix < n; ix++) {
- Thing thing = this.things[ix];
- if (thing != null) {
- thing.Update(currentTimeMS);
- // if (thing.owner != this) {
- // BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
- // this.Send(thing.owner, binaryMsg);
- // }
- }
- }
- }
-
- public virtual void Publish() {
- this.Publish(new ParticipantMsg(this.networkId));
- }
-
- #endregion Update
-
- #region Send
-
- public void SendThingInfo(Participant remoteParticipant, Thing thing) {
- Console.WriteLine("Send thing info");
- this.Send(remoteParticipant, new ThingMsg(this.networkId, thing));
- this.Send(remoteParticipant, new NameMsg(this.networkId, thing));
- this.Send(remoteParticipant, new ModelUrlMsg(this.networkId, thing));
- this.Send(remoteParticipant, new BinaryMsg(this.networkId, thing));
- }
-
- public bool Send(Participant remoteParticipant, IMessage msg) {
- int bufferSize = msg.Serialize(ref this.buffer);
- if (bufferSize <= 0)
- return true;
-
- IPEndPoint participantEndpoint = new IPEndPoint(IPAddress.Parse(remoteParticipant.ipAddress), remoteParticipant.port);
- // Console.WriteLine($"msg to {participantEndpoint.Address.ToString()} {participantEndpoint.Port}");
- this.udpClient?.Send(this.buffer, bufferSize, participantEndpoint);
- return true;
- }
-
- public void PublishThingInfo(Thing thing) {
- //Console.WriteLine("Publish thing info");
- this.Publish(new ThingMsg(this.networkId, thing));
- this.Publish(new NameMsg(this.networkId, thing));
- this.Publish(new ModelUrlMsg(this.networkId, thing));
- this.Publish(new BinaryMsg(this.networkId, thing));
- }
-
- public bool Publish(IMessage msg) {
- int bufferSize = msg.Serialize(ref this.buffer);
- if (bufferSize <= 0)
- return true;
-
- // Console.WriteLine($"publish to {broadcastIpAddress.ToString()} {this.port}");
- this.udpClient?.Send(this.buffer, bufferSize, this.broadcastIpAddress, this.port);
- return true;
- }
-
- // public bool SendBuffer(int bufferSize) {
- // //if (this.ipAddress == null)
- // // return false;
-
- // // UnityEngine.Debug.Log($"Send msg {buffer[0]} to {ipAddress}");
- // //this.udpClient.Send(this.buffer, bufferSize, this.ipAddress, this.port);
- // this.udpClient?.Send(this.buffer, bufferSize, this.endPoint);
- // return true;
- // }
-
- // public bool PublishBuffer(int bufferSize) {
- // if (this.broadcastIpAddress == null)
- // return false;
-
- // this.udpClient?.Send(this.buffer, bufferSize, this.broadcastIpAddress, this.port);
- // return true;
- // }
-
- #endregion
-
- #region Receive
-
- public void ReceiveData(byte[] data, Participant remoteParticipant) {
- byte msgId = data[0];
- if (msgId == 0xFF) {
- // Timeout
- return;
- }
-
- switch (msgId) {
- case ParticipantMsg.Id: // 0xA0 / 160
- this.Process(remoteParticipant, new ParticipantMsg(data));
- break;
- case NetworkIdMsg.Id: // 0xA1 / 161
- this.Process(remoteParticipant, new NetworkIdMsg(data));
- break;
- case InvestigateMsg.Id: // 0x81
- // result = await InvestigateMsg.Receive(dataStream, client, packetSize);
- break;
- case ThingMsg.id: // 0x80 / 128
- this.Process(remoteParticipant, new ThingMsg(data));
- break;
- case NameMsg.Id: // 0x91 / 145
- this.Process(remoteParticipant, new NameMsg(data));
- break;
- case ModelUrlMsg.Id: // 0x90 / 144
- this.Process(remoteParticipant, new ModelUrlMsg(data));
- break;
- case PoseMsg.Id: // 0x10 / 16
- this.Process(remoteParticipant, new PoseMsg(data));
- // result = await PoseMsg.Receive(dataStream, client, packetSize);
- break;
- case BinaryMsg.Id: // 0xB1 / 177
- this.Process(remoteParticipant, new BinaryMsg(data));
- break;
- case TextMsg.Id: // 0xB0 / 176
- // result = await TextMsg.Receive(dataStream, client, packetSize);
- break;
- case DestroyMsg.Id: // 0x20 / 32
- // result = await DestroyMsg.Receive(dataStream, client, packetSize);
- break;
- default:
- break;
- }
- }
-
- #endregion
-
- #region Process
-
- protected virtual void Process(Participant sender, ParticipantMsg msg) { }
-
- protected virtual void Process(Participant sender, NetworkIdMsg msg) {
- Console.WriteLine($"{this.name} receive network id {this.networkId} {msg.networkId}");
- if (this.networkId != msg.networkId) {
- this.networkId = msg.networkId;
- foreach (Thing thing in this.things) //Thing.GetAllThings())
- this.SendThingInfo(sender, thing);
- }
- }
-
- protected virtual void Process(Participant sender, InvestigateMsg msg) { }
-
- protected virtual void Process(Participant sender, ThingMsg msg) {
- //Console.WriteLine($"Participant: Process thing [{msg.networkId}/{msg.thingId}]");
- }
-
- protected virtual void Process(Participant sender, NameMsg msg) {
- //Console.WriteLine($"Participant: Process name [{msg.networkId}/{msg.thingId}] {msg.name}");
- Thing thing = sender.Get(msg.networkId, msg.thingId);
- if (thing != null)
- thing.name = msg.name;
- }
-
- protected virtual void Process(Participant sender, ModelUrlMsg msg) {
- //Console.WriteLine($"Participant: Process model [{msg.networkId}/{msg.thingId}] {msg.url}");
- Thing thing = sender.Get(msg.networkId, msg.thingId);
- if (thing != null)
- thing.modelUrl = msg.url;
- }
-
- protected virtual void Process(Participant sender, PoseMsg msg) {
- //Console.WriteLine($"Participant: Process pose [{msg.networkId}/{msg.thingId}] {msg.poseType}");
- Thing thing = sender.Get(msg.networkId, msg.thingId);
- if (thing != null) {
- thing.hasPosition = false;
- if ((msg.poseType & PoseMsg.Pose_Position) != 0) {
- thing.position = msg.position;
- thing.hasPosition = true;
- }
- if ((msg.poseType & PoseMsg.Pose_Orientation) != 0)
- thing.orientation = msg.orientation;
- else
- thing.orientation = null;
- if ((msg.poseType & PoseMsg.Pose_LinearVelocity) != 0)
- thing.linearVelocity = msg.linearVelocity;
- if ((msg.poseType & PoseMsg.Pose_AngularVelocity) != 0)
- thing.angularVelocity = msg.angularVelocity;
-
- }
- }
-
- protected virtual void Process(Participant sender, BinaryMsg msg) {
- // Console.WriteLine($"Participant: Process binary [{msg.networkId}/{msg.thingId}]");
- Thing thing = sender.Get(msg.networkId, msg.thingId);
- thing?.ProcessBinary(msg.bytes);
- }
-
- protected virtual void Process(Participant sender, TextMsg temsgxt) { }
-
- protected virtual void Process(Participant sender, DestroyMsg msg) { }
-
- private void ForwardMessage(IMessage msg) {
- // foreach (Participant client in senders) {
- // if (client == this)
- // continue;
- // //UnityEngine.Debug.Log($"---> {client.ipAddress}");
- // //IMessage.SendMsg(client, msg);
- // msg.Serialize(ref client.buffer);
- // client.SendBuffer(client.buffer.Length);
- // }
- }
-
- #endregion
- }
-}
\ No newline at end of file
diff --git a/src/LinearAlgebra/Matrix.cs b/src/Matrix.cs
similarity index 100%
rename from src/LinearAlgebra/Matrix.cs
rename to src/Matrix.cs
diff --git a/src/Messages/BinaryMsg.cs b/src/Messages/BinaryMsg.cs
deleted file mode 100644
index 6953188..0000000
--- a/src/Messages/BinaryMsg.cs
+++ /dev/null
@@ -1,83 +0,0 @@
-namespace RoboidControl {
-
- /// <summary>
- /// A message containing binary data for custom communication
- /// </summary>
- public class BinaryMsg : IMessage {
- /// <summary>
- /// The message ID
- /// </summary>
- public const byte Id = 0xB1;
- /// <summary>
- /// The length of the message, excluding the binary data
- /// </summary>
- /// For the total size of the message this.bytes.Length should be added to this value.
- public const byte length = 2;
- /// <summary>
- /// The network ID identifying the thing
- /// </summary>
- public byte networkId;
- /// <summary>
- /// The ID of the thing
- /// </summary>
- public byte thingId;
-
- public Thing thing;
-
- /// <summary>
- /// The binary data
- /// </summary>
- public byte[] bytes;
-
- /// <summary>
- /// Create a new message for sending
- /// </summary>
- /// <param name="networkId">The netowork ID of the thing</param>
- /// <param name="thingId">The ID of the thing</param>
- /// <param name="bytes">The binary data for the thing</param>
- public BinaryMsg(byte networkId, byte thingId, byte[] bytes) : base() {
- this.networkId = networkId;
- this.thingId = thingId;
- this.bytes = bytes;
- }
- /// <summary>
- /// Create an empty message for sending
- /// </summary>
- /// <param name="networkId">The netowork ID of the thing</param>
- /// <param name="thingId">The ID of the thing</param>
- public BinaryMsg(byte networkId, Thing thing) : base() {
- this.networkId = networkId;
- this.thingId = thing.id;
- this.thing = thing;
- this.bytes = this.thing.GenerateBinary();
- // if (this.bytes.Length > 0)
- // System.Console.Write($"Binary message for [{networkId}/{thing.id}]");
- }
- /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
- public BinaryMsg(byte[] buffer) {
- byte ix = 1;
- this.networkId = buffer[ix++];
- this.thingId = buffer[ix++];
- byte length = (byte)(buffer.Length - ix);
- this.bytes = new byte[length];
- for (uint bytesIx = 0; bytesIx < length; bytesIx++)
- this.bytes[bytesIx] = buffer[ix++];
- }
-
- /// @copydoc Passer::RoboidControl::IMessage::Serialize
- public override byte Serialize(ref byte[] buffer) {
- if (buffer.Length < BinaryMsg.length + this.bytes.Length || this.bytes.Length == 0)
- return 0;
-
- byte ix = 0;
- buffer[ix++] = BinaryMsg.Id;
- buffer[ix++] = this.networkId;
- buffer[ix++] = this.thingId;
- foreach (byte b in bytes)
- buffer[ix++] = b;
-
- return ix;
- }
- }
-
-}
\ No newline at end of file
diff --git a/src/Messages/DestroyMsg.cs b/src/Messages/DestroyMsg.cs
deleted file mode 100644
index 1963bc3..0000000
--- a/src/Messages/DestroyMsg.cs
+++ /dev/null
@@ -1,51 +0,0 @@
-namespace RoboidControl {
-
- /// <summary>
- /// Message notifiying that a Thing no longer exists
- /// </summary>
- public class DestroyMsg : IMessage {
- /// <summary>
- /// The message ID
- /// </summary>
- public const byte Id = 0x20;
- /// <summary>
- /// The length of the message
- /// </summary>
- public const byte length = 3;
- /// <summary>
- /// The network ID of the thing
- /// </summary>
- public byte networkId;
- /// <summary>
- /// The ID of the thing
- /// </summary>
- public byte thingId;
-
- /// <summary>
- /// Create a message for sending
- /// </summary>
- /// <param name="networkId">The network ID of the thing</param>
- /// <param name="thingId">The ID of the thing</param>
- public DestroyMsg(byte networkId, byte thingId) {
- this.networkId = networkId;
- this.thingId = thingId;
- }
- /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
- public DestroyMsg(byte[] buffer) : base(buffer) { }
-
- /// @copydoc Passer::RoboidControl::IMessage::Serialize
- public override byte Serialize(ref byte[] buffer) {
- if (buffer.Length < DestroyMsg.length)
- return 0;
-
- byte ix = 0;
- buffer[ix++] = DestroyMsg.Id;
- buffer[ix++] = this.networkId;
- buffer[ix++] = this.thingId;
-
- return ix;
- }
-
- }
-
-}
\ No newline at end of file
diff --git a/src/Messages/InvestigateMsg.cs b/src/Messages/InvestigateMsg.cs
deleted file mode 100644
index 08d54d9..0000000
--- a/src/Messages/InvestigateMsg.cs
+++ /dev/null
@@ -1,46 +0,0 @@
-namespace RoboidControl {
-
- /// <summary>
- /// Message to request details for a Thing
- /// </summary>
- public class InvestigateMsg : IMessage {
- /// <summary>
- /// The message Id
- /// </summary>
- public const byte Id = 0x81;
- /// <summary>
- /// The length of the message
- /// </summary>
- public const byte length = 3;
- /// <summary>
- /// The network ID of the thing
- /// </summary>
- public byte networkId;
- /// <summary>
- /// The ID of the thing
- /// </summary>
- public byte thingId;
-
- /// <summary>
- /// Create a new message for sending
- /// </summary>
- /// <param name="networkId">The network ID for the thing</param>
- /// <param name="thingId">The ID of the thing</param>
- public InvestigateMsg(byte networkId, byte thingId) {
- this.networkId = networkId;
- this.thingId = thingId;
- }
- /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
- public InvestigateMsg(byte[] buffer) : base(buffer) { }
-
- /// @copydoc Passer::RoboidControl::IMessage::Serialize
- public override byte Serialize(ref byte[] buffer) {
- byte ix = 0;
- buffer[ix++] = InvestigateMsg.Id;
- buffer[ix++] = this.networkId;
- buffer[ix++] = this.thingId;
- return ix;
- }
- }
-
-}
\ No newline at end of file
diff --git a/src/Messages/LowLevelMessages.cs b/src/Messages/LowLevelMessages.cs
deleted file mode 100644
index 27835e6..0000000
--- a/src/Messages/LowLevelMessages.cs
+++ /dev/null
@@ -1,112 +0,0 @@
-using Passer.LinearAlgebra;
-
-namespace RoboidControl
-{
- public class LowLevelMessages
- {
-
- public static void SendSpherical(byte[] buffer, ref byte ix, Spherical v)
- {
- SendFloat16(buffer, ref ix, new float16(v.distance));
- SendAngle8(buffer, ref ix, v.direction.horizontal);
- SendAngle8(buffer, ref ix, v.direction.vertical);
- }
-
- public static Spherical ReceiveSpherical(byte[] data, ref byte ix)
- {
- float distance = ReceiveFloat16(data, ref ix);
- float horizontal = ReceiveAngle8(data, ref ix);
- float vertical = ReceiveAngle8(data, ref ix);
- Spherical v = new Spherical(distance, horizontal, vertical);
- return v;
- }
-
- public static void SendQuat32(byte[] buffer, ref byte ix, SwingTwist s)
- {
- Quat32 q32 = Quat32.FromSwingTwist(s);
- SendQuat32(buffer, ref ix, q32);
-
- }
- public static void SendQuat32(byte[] buffer, ref byte ix, Quat32 q)
- {
- int qx = (int)(q.x * 127 + 128);
- int qy = (int)(q.y * 127 + 128);
- int qz = (int)(q.z * 127 + 128);
- int qw = (int)(q.w * 255);
- if (q.w < 0)
- {
- qx = -qx;
- qy = -qy;
- qz = -qz;
- qw = -qw;
- }
-
- buffer[ix++] = (byte)qx;
- buffer[ix++] = (byte)qy;
- buffer[ix++] = (byte)qz;
- buffer[ix++] = (byte)qw;
- }
- public static Quat32 ReceiveQuat32(byte[] data, ref byte ix)
- {
- Quat32 q = new Quat32(
- (data[ix++] - 128.0F) / 127.0F,
- (data[ix++] - 128.0F) / 127.0F,
- (data[ix++] - 128.0F) / 127.0F,
- data[ix++] / 255.0F);
- return q;
- }
-
- public static SwingTwist ReceiveSwingTwist(byte[] data, ref byte ix)
- {
- Quat32 q32 = ReceiveQuat32(data, ref ix);
- // UnityEngine.Quaternion q = new(q32.x, q32.y, q32.z, q32.w);
- // SwingTwist r = new(q.eulerAngles.y, q.eulerAngles.x, q.eulerAngles.z);
-
- SwingTwist r = SwingTwist.FromQuat32(q32);
- return r;
- }
-
- public static void SendAngle8(byte[] buffer, ref byte ix, float angle)
- {
- // Normalize angle
- while (angle >= 180)
- angle -= 360;
- while (angle < -180)
- angle += 360;
- sbyte value = (sbyte)(angle / 360.0f * 256.0f);
- buffer[ix++] = (byte)value;
- }
-
- public static float ReceiveAngle8(byte[] data, ref byte ix)
- {
- float value = (data[ix++] * 180) / 128.0F;
- return value;
- }
-
- public static void SendFloat16(byte[] data, ref byte ix, float f)
- {
- float16 f16 = new float16(f);
- ushort binary = f16.GetBinary();
- data[ix++] = (byte)(binary >> 8);
- data[ix++] = (byte)(binary & 255);
- }
- public static void SendFloat16(byte[] data, ref byte ix, float16 f)
- {
- ushort binary = f.GetBinary();
- data[ix++] = (byte)((binary >> 8) & 0xFF);
- data[ix++] = (byte)(binary & 0xFF);
- }
-
- public static float ReceiveFloat16(byte[] data, ref byte ix)
- {
- byte msb = data[ix++];
- byte lsb = data[ix++];
- ushort value = (ushort)(msb << 8 | lsb);
- float16 f16 = new float16();
- f16.SetBinary(value);
- float f = f16.toFloat();
- return f;
- }
- }
-
-}
\ No newline at end of file
diff --git a/src/Messages/Messages.cs b/src/Messages/Messages.cs
deleted file mode 100644
index 2fa0045..0000000
--- a/src/Messages/Messages.cs
+++ /dev/null
@@ -1,25 +0,0 @@
-namespace RoboidControl {
-
- /// <summary>
- /// Root structure for all communcation messages
- /// </summary>
- public class IMessage {
- public IMessage() { }
-
- /// <summary>
- /// Create a message for receiving
- /// </summary>
- /// <param name="buffer">The byte array to parse</param>
- public IMessage(byte[] buffer) {
- //Deserialize(buffer);
- }
-
- /// <summary>
- /// Serialize the message into a byte array for sending
- /// </summary>
- /// <param name="buffer">The buffer to serilize into</param>
- /// <returns>The length of the message in the buffer</returns>
- public virtual byte Serialize(ref byte[] buffer) { return 0; }
- }
-
-}
diff --git a/src/Messages/ModelUrlMsg.cs b/src/Messages/ModelUrlMsg.cs
deleted file mode 100644
index be15087..0000000
--- a/src/Messages/ModelUrlMsg.cs
+++ /dev/null
@@ -1,77 +0,0 @@
-namespace RoboidControl {
-
- /// <summary>
- /// Message for communicating the URL for a model of the thing
- /// </summary>
- public class ModelUrlMsg : IMessage {
- /// <summary>
- /// The message ID
- /// </summary>
- public const byte Id = 0x90; // (144) Model URL
- /// <summary>
- /// The length of the message without th URL itself
- /// </summary>
- public const byte length = 4;
- /// <summary>
- /// The network ID of the thing
- /// </summary>
- public byte networkId;
- /// <summary>
- /// The ID of the thing
- /// </summary>
- public byte thingId;
- /// <summary>
- /// The URL of the model
- /// </summary>
- public string url = null;
-
- /// <summary>
- /// Create a new message for sending
- /// </summary>
- /// <param name="networkId">The network ID of the thing</param>
- /// <param name="thing">The thing for which to send the model URL</param>
- public ModelUrlMsg(byte networkId, Thing thing) {
- this.networkId = networkId;
- this.thingId = thing.id;
- this.url = thing.modelUrl;
- }
- /// <summary>
- /// Create a new message for sending
- /// </summary>
- /// <param name="networkId">The network ID of the thing</param>
- /// <param name="thingId">The ID of the thing</param>
- /// <param name="url">The URL to send</param>
- public ModelUrlMsg(byte networkId, byte thingId, string url) {
- this.networkId = networkId;
- this.thingId = thingId;
- this.url = url;
- }
- /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
- public ModelUrlMsg(byte[] buffer) {
- byte ix = 1;
- this.networkId = buffer[ix++];
- this.thingId = buffer[ix++];
-
- int strlen = buffer[ix++];
- url = System.Text.Encoding.UTF8.GetString(buffer, (int)ix, strlen);
- }
-
- /// @copydoc Passer::RoboidControl::IMessage::Serialize
- public override byte Serialize(ref byte[] buffer) {
- if (this.url == null)
- return 0;
-
- byte ix = 0;
- buffer[ix++] = ModelUrlMsg.Id;
- buffer[ix++] = this.networkId;
- buffer[ix++] = this.thingId; // Thing Id
-
- buffer[ix++] = (byte)this.url.Length;
- for (int urlIx = 0; urlIx < this.url.Length; urlIx++)
- buffer[ix++] = (byte)url[urlIx];
- return ix;
- }
-
- }
-
-}
\ No newline at end of file
diff --git a/src/Messages/NameMsg.cs b/src/Messages/NameMsg.cs
deleted file mode 100644
index 632540f..0000000
--- a/src/Messages/NameMsg.cs
+++ /dev/null
@@ -1,82 +0,0 @@
-namespace RoboidControl {
-
- /// <summary>
- /// Message for communicating the name of a thing
- /// </summary>
- public class NameMsg : IMessage {
- /// <summary>
- /// The message ID
- /// </summary>
- public const byte Id = 0x91; // 145
- /// <summary>
- /// The length of the message without the name string
- /// </summary>
- public const byte length = 4;
- /// <summary>
- /// The network ID of the thing
- /// </summary>
- public byte networkId;
- /// <summary>
- /// The ID of the thing
- /// </summary>
- public byte thingId;
- /// <summary>
- /// The length of the name, excluding null terminator
- /// </summary>
- public byte len;
- /// <summary>
- /// The name of the thing, not terminated with a null character
- /// </summary>
- public string name = "";
-
- /// <summary>
- /// Create a new message for sending
- /// </summary>
- /// <param name="networkId">The network ID of the thing</param>
- /// <param name="thing">The thing</param>
- public NameMsg(byte networkId, Thing thing) {
- this.networkId = networkId;
- this.thingId = thing.id;
- this.name = thing.name;
- }
- /// <summary>
- /// Create a new message for sending
- /// </summary>
- /// <param name="networkId">The network ID of the thing</param>
- /// <param name="thingId">The ID of the thing</param>
- /// <param name="name">The name of the thing</param>
- public NameMsg(byte networkId, byte thingId, string name) {
- this.networkId = networkId;
- this.thingId = thingId;
- this.name = name;
- }
- /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
- public NameMsg(byte[] buffer) {
- byte ix = 1;
- this.networkId = buffer[ix++];
- this.thingId = buffer[ix++];
- int strlen = buffer[ix++];
- this.name = System.Text.Encoding.UTF8.GetString(buffer, (int)ix, strlen);
- }
-
- /// @copydoc Passer::RoboidControl::IMessage::Serialize
- public override byte Serialize(ref byte[] buffer) {
- if (buffer.Length < NameMsg.length + this.name.Length || this.name.Length == 0)
- return 0;
-
- byte ix = 0;
- buffer[ix++] = NameMsg.Id;
- buffer[ix++] = this.networkId;
- buffer[ix++] = this.thingId;
-
- int nameLength = this.name.Length;
-
- buffer[ix++] = (byte)nameLength;
- for (int nameIx = 0; nameIx < nameLength; nameIx++)
- buffer[ix++] = (byte)this.name[nameIx];
-
- return ix;
- }
- }
-
-}
\ No newline at end of file
diff --git a/src/Messages/NetworkIdMsg.cs b/src/Messages/NetworkIdMsg.cs
deleted file mode 100644
index 8d81e27..0000000
--- a/src/Messages/NetworkIdMsg.cs
+++ /dev/null
@@ -1,43 +0,0 @@
-namespace RoboidControl {
-
- /// <summary>
- /// A message communicating the network ID for that participant
- /// </summary>
- public class NetworkIdMsg : IMessage {
- /// <summary>
- /// The message ID
- /// </summary>
- public const byte Id = 0xA1;
- /// <summary>
- /// The length of the message
- /// </summary>
- public const byte length = 2;
- /// <summary>
- /// The network ID for the participant
- /// </summary>
- public byte networkId;
-
- /// <summary>
- /// Create a new message for sending
- /// </summary>
- /// <param name="networkId">The network ID for the participant</param>
- public NetworkIdMsg(byte networkId) {
- this.networkId = networkId;
- }
- /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
- public NetworkIdMsg(byte[] buffer) {
- this.networkId = buffer[1];
- }
-
- /// @copydoc Passer::RoboidControl::IMessage::Serialize
- public override byte Serialize(ref byte[] buffer) {
- if (buffer.Length < NetworkIdMsg.length)
- return 0;
-
- buffer[0] = NetworkIdMsg.Id;
- buffer[1] = this.networkId;
- return NetworkIdMsg.length;
- }
- }
-
-}
\ No newline at end of file
diff --git a/src/Messages/ParticipantMsg.cs b/src/Messages/ParticipantMsg.cs
deleted file mode 100644
index 6af8fdb..0000000
--- a/src/Messages/ParticipantMsg.cs
+++ /dev/null
@@ -1,53 +0,0 @@
-namespace RoboidControl {
-
- /// <summary>
- /// A participant messages notifies other participants of its presence
- /// </summary>
- /// When received by another participant, it can be followed by a NetworkIdMsg
- /// to announce that participant to this client such that it can join privately
- public class ParticipantMsg : IMessage {
- /// <summary>
- /// The message ID
- /// </summary>
- public const byte Id = 0xA0;
- /// <summary>
- /// The length of the message
- /// </summary>
- public const byte length = 2;
- /// <summary>
- /// The network ID known by the participant
- /// </summary>
- public byte networkId;
-
- /// <summary>
- /// Create a new message for sending
- /// </summary>
- /// <param name="networkId">The network ID known by the participant</param>
- public ParticipantMsg(byte networkId) {
- this.networkId = networkId;
- }
-
- /// <summary>
- /// Create a message for receiving
- /// </summary>
- /// <param name="buffer">The byte array to parse</param>
- public ParticipantMsg(byte[] buffer) {
- this.networkId = buffer[1];
- }
-
- /// <summary>
- /// Serialize the message into a byte array
- /// </summary>
- /// <param name="buffer">The buffer to serialize into</param>
- /// <returns>The length of the message in the buffer</returns>
- public override byte Serialize(ref byte[] buffer) {
- if (buffer.Length < ParticipantMsg.length)
- return 0;
-
- byte ix = 0;
- buffer[ix++] = ParticipantMsg.Id;
- buffer[ix++] = networkId;
- return ParticipantMsg.length;
- }
- }
-}
\ No newline at end of file
diff --git a/src/Messages/PoseMsg.cs b/src/Messages/PoseMsg.cs
deleted file mode 100644
index 5edd583..0000000
--- a/src/Messages/PoseMsg.cs
+++ /dev/null
@@ -1,133 +0,0 @@
-using Passer.LinearAlgebra;
-
-namespace RoboidControl {
-
- /// <summary>
- /// Message to communicate the pose of the thing
- /// </summary>
- /// The pose is in local space relative to the parent. If there is not parent (the thing is a root thing), the pose will be in world space.
- public class PoseMsg : IMessage {
- /// <summary>
- /// The message ID
- /// </summary>
- public const byte Id = 0x10;
- /// <summary>
- /// The length of the message
- /// </summary>
- public const byte length = 4 + 4 + 4;
- /// <summary>
- /// The network ID of the thing
- /// </summary>
- public byte networkId;
- /// <summary>
- /// The ID of the thing
- /// </summary>
- public byte thingId;
-
- /// <summary>
- /// Bit pattern stating which pose components are available
- /// </summary>
- public byte poseType;
- /// <summary>
- /// Bit pattern for a pose with position
- /// </summary>
- public const byte Pose_Position = 0x01;
- /// <summary>
- /// Bit pattern for a pose with orientation
- /// </summary>
- public const byte Pose_Orientation = 0x02;
- /// <summary>
- /// Bit pattern for a pose with linear velocity
- /// </summary>
- public const byte Pose_LinearVelocity = 0x04;
- /// <summary>
- /// Bit pattern for a pose with angular velocity
- /// </summary>
- public const byte Pose_AngularVelocity = 0x08;
-
- /// <summary>
- /// The position of the thing in local space in meters
- /// </summary>
- public Spherical position = Spherical.zero;
- /// <summary>
- /// The orientation of the thing in local space
- /// </summary>
- public SwingTwist orientation = SwingTwist.zero;
- /// <summary>
- /// The linear velocity of the thing in local space in meters per second
- /// </summary>
- public Spherical linearVelocity = Spherical.zero;
- /// <summary>
- /// The angular velocity of the thing in local space
- /// </summary>
- public Spherical angularVelocity = Spherical.zero;
-
- /// <summary>
- /// Create a new message for sending
- /// </summary>
- /// <param name="networkId">The network ID of the thing</param>
- /// <param name="thingId">The ID of the thing</param>
- /// <param name="position">The position of the thing in local space in meters</param>
- /// <param name="orientation">The orientation of the thing in local space</param>
- public PoseMsg(byte networkId, byte thingId, Spherical position, SwingTwist orientation, Spherical linearVelocity = null, Spherical angularVelocity = null) {
- this.networkId = networkId;
- this.thingId = thingId;
-
- this.poseType = 0;
- if (this.position != null)
- this.poseType |= Pose_Position;
- if (this.orientation != null)
- this.poseType |= Pose_Orientation;
- if (this.linearVelocity != null)
- this.poseType |= Pose_LinearVelocity;
- if (this.angularVelocity != null)
- this.poseType |= Pose_AngularVelocity;
-
- this.position = position;
- this.orientation = orientation;
- this.linearVelocity = linearVelocity;
- this.angularVelocity = angularVelocity;
- }
- /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
- public PoseMsg(byte[] buffer) : base(buffer) {
- byte ix = 1;
- this.networkId = buffer[ix++];
- this.thingId = buffer[ix++];
-
- this.poseType = buffer[ix++];
- this.position = null;
- this.orientation = null;
- this.linearVelocity = null;
- this.angularVelocity = null;
- if ((this.poseType & Pose_Position) != 0)
- this.position = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
- if ((this.poseType & Pose_Orientation) != 0)
- this.orientation = SwingTwist.FromQuat32(LowLevelMessages.ReceiveQuat32(buffer, ref ix));
- if ((this.poseType & Pose_LinearVelocity) != 0)
- this.linearVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
- if ((this.poseType & Pose_AngularVelocity) != 0)
- this.angularVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
- }
-
- /// @copydoc Passer::RoboidControl::IMessage::Serialize
- public override byte Serialize(ref byte[] buffer) {
- byte ix = 0;
- buffer[ix++] = PoseMsg.Id;
- buffer[ix++] = this.networkId;
- buffer[ix++] = this.thingId;
- buffer[ix++] = this.poseType;
-
- if ((poseType & Pose_Position) != 0)
- LowLevelMessages.SendSpherical(buffer, ref ix, this.position);
- if ((poseType & Pose_Orientation) != 0)
- LowLevelMessages.SendQuat32(buffer, ref ix, this.orientation);
- if ((poseType & Pose_LinearVelocity) != 0)
- LowLevelMessages.SendSpherical(buffer, ref ix, this.linearVelocity);
- if ((poseType & Pose_AngularVelocity) != 0)
- LowLevelMessages.SendSpherical(buffer, ref ix, this.angularVelocity);
- return ix;
- }
-
- }
-
-}
\ No newline at end of file
diff --git a/src/Messages/TextMsg.cs b/src/Messages/TextMsg.cs
deleted file mode 100644
index a1de990..0000000
--- a/src/Messages/TextMsg.cs
+++ /dev/null
@@ -1,45 +0,0 @@
-namespace RoboidControl {
-
- /// <summary>
- /// Message for sending generic text
- /// </summary>
- public class TextMsg : IMessage {
- /// <summary>
- /// The message ID
- /// </summary>
- public const byte Id = 0xB0;
- /// <summary>
- /// The length of the message without the text itself
- /// </summary>
- public const byte length = 2;
- /// <summary>
- /// The text
- /// </summary>
- public string text = "";
-
- /// <summary>
- /// Create a new message for sending
- /// </summary>
- /// <param name="text">The text to send</param>
- public TextMsg(string text) {
- this.text = text;
- }
-
- /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
- public TextMsg(byte[] buffer) : base(buffer) { }
-
- /// @copydoc Passer::RoboidControl::IMessage::Serialize
- public override byte Serialize(ref byte[] buffer) {
- if (buffer.Length < TextMsg.length + this.text.Length || this.text.Length == 0)
- return 0;
-
- byte ix = 0;
- buffer[ix++] = TextMsg.Id;
- buffer[ix++] = (byte)this.text.Length;
- for (int textIx = 0; textIx < this.text.Length; textIx++)
- buffer[ix++] = (byte)this.text[textIx];
- return ix;
- }
- }
-
-}
\ No newline at end of file
diff --git a/src/Messages/ThingMsg.cs b/src/Messages/ThingMsg.cs
deleted file mode 100644
index 9725e23..0000000
--- a/src/Messages/ThingMsg.cs
+++ /dev/null
@@ -1,90 +0,0 @@
-namespace RoboidControl {
-
- /// <summary>
- /// Message providing generic information about a Thing
- /// </summary>
- public class ThingMsg : IMessage {
- /// <summary>
- /// The message ID
- /// </summary>
- public const byte id = 0x80;
- /// <summary>
- /// The length of the message
- /// </summary>
- public const byte length = 5;
- /// <summary>
- /// The network ID of the thing
- /// </summary>
- public byte networkId;
- /// <summary>
- /// The ID of the thing
- /// </summary>
- public byte thingId;
- /// <summary>
- /// The Thing.Type of the thing
- /// </summary>
- public byte thingType;
- /// <summary>
- /// The parent of the thing in the hierarachy. This is null for root Things
- /// </summary>
- public byte parentId;
-
- /// <summary>
- /// Create a message for sending
- /// </summary>
- /// <param name="networkId">The network ID of the thing</param>
- /// <param name="thing">The thing</param>
- public ThingMsg(byte networkId, Thing thing) {
- this.networkId = networkId;
- this.thingId = thing.id;
- this.thingType = thing.type;
- if (thing.parent != null)
- this.parentId = thing.parent.id;
- else
- this.parentId = 0;
- }
- /// <summary>
- /// Create a message for sending
- /// </summary>
- /// <param name="networkId">The network ID of the thing</param>
- /// <param name="thingId">The ID of the thing</param>
- /// <param name="thingType">The type of thing</param>
- /// <param name="parentId">The parent of the thing</param>
- public ThingMsg(byte networkId, byte thingId, byte thingType, byte parentId) {
- this.networkId = networkId;
- this.thingId = thingId;
- this.thingType = thingType;
- this.parentId = parentId;
- }
- /// <summary>
- /// Create a message for receiving
- /// </summary>
- /// <param name="buffer">The byte array to parse</param>
- public ThingMsg(byte[] buffer) {
- uint ix = 1;
- this.networkId = buffer[ix++];
- this.thingId = buffer[ix++];
- this.thingType = buffer[ix++];
- this.parentId = buffer[ix];
- }
-
- /// <summary>
- /// Serialize the message into a byte array
- /// </summary>
- /// <param name="buffer">The buffer to serialize into</param>
- /// <returns>The length of the message in the bufer. 0 when the buffer was too small</returns>
- public override byte Serialize(ref byte[] buffer) {
- if (buffer.Length < ThingMsg.length)
- return 0;
-
- byte ix = 0;
- buffer[ix++] = ThingMsg.id;
- buffer[ix++] = this.networkId;
- buffer[ix++] = this.thingId;
- buffer[ix++] = this.thingType;
- buffer[ix++] = this.parentId;
- return ThingMsg.length;
- }
- }
-
-}
\ No newline at end of file
diff --git a/src/Participant.cs b/src/Participant.cs
deleted file mode 100644
index 53f637e..0000000
--- a/src/Participant.cs
+++ /dev/null
@@ -1,84 +0,0 @@
-using System;
-using System.Collections.Generic;
-
-namespace RoboidControl {
-
- /// <summary>
- /// A reference to a participant, possibly on a remote location
- /// </summary>
- public class Participant {
- /// <summary>
- /// The internet address of the participant
- /// </summary>
- public string ipAddress = "0.0.0.0";
- /// <summary>
- /// The UDP port on which the participant can be reached
- /// </summary>
- public int port = 0;
-
- /// <summary>
- /// The network ID of the participant
- /// </summary>
- public byte networkId;
-
- /// <summary>
- /// Default constructor
- /// </summary>
- public Participant() { }
- /// <summary>
- /// Create a new remote participant
- /// </summary>
- /// <param name="ipAddress">The IP address of the participant</param>
- /// <param name="port">The UDP port of the participant</param>
- public Participant(string ipAddress, int port) {
- this.ipAddress = ipAddress;
- this.port = port;
- }
-
- /// <summary>
- /// The things reported by this participant
- /// </summary>
- protected readonly List<Thing> things = new List<Thing>();
-
- /// <summary>
- /// Get a thing with the given ids
- /// </summary>
- /// <param name="networkId">The network ID of the thing</param>
- /// <param name="thingId">The ID of the thing</param>
- /// <returns>The thing when it is found, null in other cases.</returns>
- public Thing Get(byte networkId, byte thingId) {
- Thing thing = things.Find(aThing => Thing.IsThing(aThing, networkId, thingId));
- // if (thing == null)
- // Console.WriteLine($"Could not find thing {ipAddress}:{port}[{networkId}/{thingId}]");
- return thing;
- }
-
- /// <summary>
- /// Add a new thing for this participant
- /// </summary>
- /// <param name="thing">The thing to add</param>
- /// <param name="invokeEvent">Invoke an notification event when the thing has been added</param>
- public void Add(Thing thing, bool invokeEvent = true) {
- // Console.WriteLine($"added thing [{thing.networkId}/{thing.id}]");
- Thing foundThing = Get(thing.networkId, thing.id);
-
- if (foundThing == null) {
- things.Add(thing);
-
- if (invokeEvent)
- Thing.InvokeNewThing(thing);
- // Console.Write($"Add thing {ipAddress}:{port}[{networkId}/{thing.id}]");
- }
- else {
- if (thing != foundThing) {
- // should be: find first non-existing id...
- thing.id = (byte)this.things.Count;
- things.Add(thing);
- // Console.Write($"Add thing, updated thing id to [{thing.networkId}/{thing.id}]");
- }
- }
- }
-
- }
-
-}
\ No newline at end of file
diff --git a/src/LinearAlgebra/Quat32.cs b/src/Quat32.cs
similarity index 100%
rename from src/LinearAlgebra/Quat32.cs
rename to src/Quat32.cs
diff --git a/src/LinearAlgebra/Quaternion.cs b/src/Quaternion.cs
similarity index 100%
rename from src/LinearAlgebra/Quaternion.cs
rename to src/Quaternion.cs
diff --git a/src/SiteServer.cs b/src/SiteServer.cs
deleted file mode 100644
index ce2d178..0000000
--- a/src/SiteServer.cs
+++ /dev/null
@@ -1,81 +0,0 @@
-using System;
-using System.Net;
-using System.Net.Sockets;
-
-namespace RoboidControl {
-
- /// <summary>
- /// A site server is a participant which provides a shared simulated environment
- /// </summary>
- public class SiteServer : LocalParticipant {
-
- public SiteServer(int port = 7681) : this("0.0.0.0", port) { }
-
- /// <summary>
- /// Create a new site server
- /// </summary>
- /// <param name="port"></param>
- public SiteServer(string ipAddress = "0.0.0.0", int port = 7681) : base() {
- this.name = "Site Server";
-
- this.ipAddress = ipAddress;
- this.port = port;
-
- this.endPoint = new IPEndPoint(IPAddress.Parse(ipAddress), port); // for sending
-
- Console.Write($"Prepare receive on port {port}");
- this.udpClient = new UdpClient(port); // for receiving
- this.udpClient.BeginReceive(
- new AsyncCallback(result => ReceiveUDP(result)),
- new Tuple<UdpClient, IPEndPoint>(this.udpClient, new(IPAddress.Any, port)));
-
- Register<TouchSensor>(Thing.Type.TouchSensor);
- }
-
- /// <summary>
- /// Close the site
- /// </summary>
- public void Close() {
- this.udpClient?.Close();
- }
-
- public override void Publish() {
- }
-
- protected override void Process(Participant remoteParticipant, ParticipantMsg msg) {
- if (msg.networkId == 0) {
- Console.WriteLine($"{this.name} received New Client -> {remoteParticipant.networkId}");
- this.Send(remoteParticipant, new NetworkIdMsg(remoteParticipant.networkId));
- }
- }
-
- protected override void Process(Participant sender, NetworkIdMsg msg) { }
-
- protected override void Process(Participant sender, ThingMsg msg) {
- //Console.WriteLine($"SiteServer: Process thing [{msg.networkId}/{msg.thingId}]");
- Thing thing = sender.Get(msg.networkId, msg.thingId);
- if (thing == null) {
- Thing newThing = null;
- if (thingMsgProcessors.TryGetValue(msg.thingType, out Func<Participant, byte, byte, Thing> msgProcessor)) {
- //Console.WriteLine("Found thing message processor");
- if (msgProcessor != null)
- newThing = msgProcessor(sender, msg.networkId, msg.thingId);
- }
- if (newThing == null) {
- newThing = new Thing(sender, msg.networkId, msg.thingId, msg.thingType);
- // Console.WriteLine("Created generic new core thing");
- }
- if (msg.parentId != 0) {
- Thing parentThing = Get(msg.networkId, msg.parentId);
- if (parentThing == null)
- Console.WriteLine("Could not find parent");
- else
- newThing.parent = parentThing;
- }
- Console.WriteLine("Adding to remote sender");
- sender.Add(newThing);
- }
- }
-
- }
-}
\ No newline at end of file
diff --git a/src/LinearAlgebra/Spherical.cs b/src/Spherical.cs
similarity index 100%
rename from src/LinearAlgebra/Spherical.cs
rename to src/Spherical.cs
diff --git a/src/LinearAlgebra/SwingTwist.cs b/src/SwingTwist.cs
similarity index 100%
rename from src/LinearAlgebra/SwingTwist.cs
rename to src/SwingTwist.cs
diff --git a/src/Thing.cs b/src/Thing.cs
deleted file mode 100644
index 3f12b62..0000000
--- a/src/Thing.cs
+++ /dev/null
@@ -1,327 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Diagnostics;
-using Passer.LinearAlgebra;
-
-namespace RoboidControl {
-
- /// <summary>
- /// A thing is the primitive building block
- /// </summary>
- [Serializable]
- public class Thing {
-
- #region Types
-
- /// <summary>
- /// Predefined thing types
- /// </summary>
- public enum Type {
- Undetermined,
- // Sensor
- Switch,
- DistanceSensor,
- DirectionalSensor,
- TemperatureSensor,
- TouchSensor,
- // Motor
- ControlledMotor,
- UncontrolledMotor,
- Servo,
- // Other
- Roboid,
- Humanoid,
- ExternalSensor
- };
-
- #endregion Types
-
- #region Init
-
- public Thing(byte thingType = (byte)Type.Undetermined) : this(LocalParticipant.Isolated(), thingType) {
- }
-
- public Thing(Participant owner, byte thingType = (byte)Type.Undetermined) {
- this.owner = owner;
- this.type = thingType;
- }
-
- public Thing(Thing parent, byte thingType = (byte)Type.Undetermined) : this(parent.owner, thingType) {
- this.parent = parent;
- }
-
- /// <summary>
- /// Create a new thing for the given participant
- /// </summary>
- /// <param name="owner">The participant for which this thing is created</param>
- /// <param name="invokeEvent">True when a new thing event should be triggered</param>
- public Thing(Participant owner, bool invokeEvent = false) {
- this.owner = owner;
- //owner.Add(this);
- if (invokeEvent)
- InvokeNewThing(this);
- }
- /// <summary>
- /// Create a new thing for the given participant
- /// </summary>
- /// <param name="participant">The participant for which this thing is created</param>
- /// <param name="networkId">The network ID of the thing</param>
- /// <param name="thingId">The ID of the thing</param>
- /// <param name="thingType">The type of thing</param>
- public Thing(Participant participant, byte networkId, byte thingId, byte thingType = 0) {
- this.owner = participant;
- this.id = thingId;
- this.type = thingType;
- this.networkId = networkId;
- }
-
- /// <summary>
- /// Function which can be used to create components in external engines.
- /// </summary>
- /// Currently this is used to create GameObjects in Unity
- public virtual void CreateComponent() {
-#if UNITY_5_3_OR_NEWER
- this.component = Unity.Thing.Create(this);
- this.component.core = this;
-#endif
- }
-
- #endregion Init
-
- #region Properties
-
- public delegate void ChangeHandler();
- public delegate void SphericalHandler(Spherical v);
- public delegate void ThingHandler(Thing t);
-
- /// <summary>
- /// The participant to which this thing belongs
- /// </summary>
- public Participant owner;
-
- /// <summary>
- /// The network ID of this thing.
- /// </summary>
- public byte networkId;
- /// <summary>
- /// The ID of this thing
- /// </summary>
- public byte id;
-
- /// <summary>
- /// The type of this thing. This can be either a Thing::Type (needs casting)
- /// or a byte value for custom types.
- /// </summary>
- public byte type;
-
- /// <summary>
- /// Event which is triggered when the parent changes
- /// </summary>
- public event ChangeHandler OnParentChanged = delegate { };
- private Thing _parent;
- /// <summary>
- /// The parent of this thing
- /// </summary>
- public Thing parent {
- get => _parent;
- set {
- if (_parent == value)
- return;
-
- if (value == null) {
- _parent?.RemoveChild(this);
- _parent = null;
- }
- else {
- value.AddChild(this);
- OnParentChanged?.Invoke();
- }
- }
- }
-
- /// <summary>
- /// Attach a thing as a child of this thing
- /// </summary>
- /// <param name="child">The thing to attach as a child</param>
- public void AddChild(Thing child) {
- if (children.Find(thing => thing == child) != null)
- return;
- child._parent = this;
- children.Add(child);
- }
- /// <summary>
- /// Remove the given thing as a child of this thing
- /// </summary>
- /// <param name="child">The child to remove</param>
- public void RemoveChild(Thing child) {
- children.Remove(child);
- }
-
- /// <summary>
- /// The list of children of this thing
- /// </summary>
- [NonSerialized]
- public List<Thing> children = new List<Thing>();
-
- /// <summary>
- /// Event which is triggered when the name changes
- /// </summary>
- public event ChangeHandler OnNameChanged = delegate { };
- private string _name = "";
- /// <summary>
- /// The name of the thing
- /// </summary>
- public virtual string name {
- get => _name;
- set {
- if (_name != value) {
- _name = value;
- OnNameChanged?.Invoke();
- }
- }
- }
-
- /// <summary>
- /// An URL pointing to the location where a model of the thing can be found
- /// </summary>
- public string modelUrl = "";
-
- /// <summary>
- /// Event triggered when the position has changed
- /// </summary>
- public event ChangeHandler OnPositionChanged = delegate { };
- private Spherical _position = Spherical.zero;
- /// <summary>
- /// The position of the thing in local space, in meters.
- /// </summary>
- public Spherical position {
- get { return _position; }
- set {
- if (_position != value) {
- _position = value;
- OnPositionChanged?.Invoke();
- }
- }
- }
- public bool hasPosition = false;
-
- /// <summary>
- /// Event triggered when the orientation has changed
- /// </summary>
- public event ChangeHandler OnOrientationChanged = delegate { };
- private SwingTwist _orientation = SwingTwist.zero;
- /// <summary>
- /// The orientation of the thing in local space
- /// </summary>
- public SwingTwist orientation {
- get { return _orientation; }
- set {
- if (_orientation != value) {
- _orientation = value;
- OnOrientationChanged?.Invoke();
- }
- }
- }
-
- /// <summary>
- /// Event triggered when the linear velocity has changed
- /// </summary>
- public event SphericalHandler OnLinearVelocityChanged = delegate { };
- private Spherical _linearVelocity = Spherical.zero;
- /// <summary>
- /// The linear velocity of the thing in local space in meters per second
- /// </summary>
- public Spherical linearVelocity {
- get => _linearVelocity;
- set {
- if (_linearVelocity != value) {
- _linearVelocity = value;
- OnLinearVelocityChanged?.Invoke(_linearVelocity);
- }
- }
- }
- /// <summary>
- /// The angular velocity of the thing in local space
- /// </summary>
- public Spherical angularVelocity = Spherical.zero;
-
-#if UNITY_5_3_OR_NEWER
- /// <summary>
- /// A reference to the representation of the thing in Unity
- /// </summary>
- [NonSerialized]
- public Unity.Thing component = null;
-#endif
-
- #endregion Properties
-
- #region Update
-
- // #if UNITY_5_3_OR_NEWER
- /// <summary>
- /// Convience function for use in Unity which removes the need for a currentTime argument
- /// </summary>
- public void Update(bool recursive = false) {
- Update(TimeManager.GetCurrentTimeMilliseconds(), recursive);
- }
- // #endif
- /// <summary>
- /// Update this thing
- /// </summary>
- /// <param name="currentTime">The current time in milliseconds</param>
- public virtual void Update(ulong currentTimeMs, bool recursive = false) {
- // should recurse over children...
- if (recursive) {
- for (byte childIx = 0; childIx < this.children.Count; childIx++) {
- Thing child = this.children[childIx];
- if (child == null)
- continue;
- child.Update(currentTimeMs, recursive);
- }
- }
- }
-
- /// <summary>
- /// Function used to generate binary data for this thing
- /// </summary>
- /// <returns>a byte array with the binary data</returns>
- /// @sa Passer::RoboidControl::BinaryMsg
- public virtual byte[] GenerateBinary() { return new byte[0]; }
-
- /// <summary>
- /// Function used to process binary data received for this thing
- /// </summary>
- /// <param name="bytes">The binary data</param>
- public virtual void ProcessBinary(byte[] bytes) {
- }
-
- #endregion Update
-
- /// <summary>
- /// Event triggered when a new thing has been created
- /// </summary>
- public static event ThingHandler OnNewThing = delegate { };
- /// <summary>
- /// Trigger the creation for the given thing
- /// </summary>
- /// <param name="thing">The created thing</param>
- public static void InvokeNewThing(Thing thing) {
- OnNewThing?.Invoke(thing);
- }
-
- /// <summary>
- /// Check if the thing has the given properaties
- /// </summary>
- /// <param name="thing">The thing to check</param>
- /// <param name="networkId">The network ID to compare to</param>
- /// <param name="thingId">The thing ID to compare to</param>
- /// <returns>True when the thing has the given properties</returns>
- public static bool IsThing(Thing thing, byte networkId, byte thingId) {
- if (thing == null)
- return false;
- return (thing.networkId == networkId) && (thing.id == thingId);
- //return (thing.id == thingId);
- }
-
- }
-}
diff --git a/src/Things/DifferentialDrive.cs b/src/Things/DifferentialDrive.cs
deleted file mode 100644
index 8dcfb2e..0000000
--- a/src/Things/DifferentialDrive.cs
+++ /dev/null
@@ -1,51 +0,0 @@
-namespace RoboidControl {
-
- /// @brief A thing which can move itself using a differential drive system
- ///
- /// @sa @link https://en.wikipedia.org/wiki/Differential_wheeled_robot @endlink
- public class DifferentialDrive : Thing {
- /// @brief Create a differential drive without networking support
- public DifferentialDrive() { }
- /// @brief Create a differential drive with networking support
- /// @param participant The local participant
- public DifferentialDrive(LocalParticipant participant) : base(participant, false) { }
-
- /// @brief Configures the dimensions of the drive
- /// @param wheelDiameter The diameter of the wheels in meters
- /// @param wheelSeparation The distance between the wheels in meters
- ///
- /// These values are used to compute the desired wheel speed from the set
- /// linear and angular velocity.
- /// @sa SetLinearVelocity SetAngularVelocity
- public void SetDriveDimensions(float wheelDiameter, float wheelSeparation) { }
- /// @brief Congures the motors for the wheels
- /// @param leftWheel The motor for the left wheel
- /// @param rightWheel The motor for the right wheel
- public void SetMotors(Thing leftWheel, Thing rightWheel) { }
-
- /// @brief Directly specify the speeds of the motors
- /// @param speedLeft The speed of the left wheel in degrees per second.
- /// Positive moves the robot in the forward direction.
- /// @param speedRight The speed of the right wheel in degrees per second.
- /// Positive moves the robot in the forward direction.
-
- public void SetWheelVelocity(float speedLeft, float speedRight) { }
-
- /// @copydoc RoboidControl::Thing::Update(unsigned long)
- public override void Update(ulong currentMs, bool recursive = true) { }
-
- /// @brief The radius of a wheel in meters
- protected float wheelRadius = 1.0f;
- /// @brief The distance between the wheels in meters
- protected float wheelSeparation = 1.0f;
-
- /// @brief Convert revolutions per second to meters per second
- protected float rpsToMs = 1.0f;
-
- /// @brief The left wheel
- protected Thing leftWheel = null;
- /// @brief The right wheel
- protected Thing rightWheel = null;
- };
-
-} // namespace RoboidControl
\ No newline at end of file
diff --git a/src/Things/DistanceSensor.cs b/src/Things/DistanceSensor.cs
deleted file mode 100644
index c83d940..0000000
--- a/src/Things/DistanceSensor.cs
+++ /dev/null
@@ -1,44 +0,0 @@
-namespace RoboidControl {
-
- /// <summary>
- /// A sensor measuring the distance in the forward direction
- /// </summary>
- public class DistanceSensor : Thing {
- /// <summary>
- /// The current measured distance
- /// </summary>
- public float distance = 0;
-
- /// <summary>
- /// Constructor for a new distance sensor
- /// </summary>
- /// <param name="participant">The participant for which the sensor is needed</param>
- public DistanceSensor(Participant participant) : base(participant, true) { }
- /// <summary>
- /// Create a distance sensor with the given ID
- /// </summary>
- /// <param name="participant">The participant for with the sensor is needed</param>
- /// <param name="networkId">The network ID of the sensor</param>
- /// <param name="thingId">The ID of the thing</param>
- public DistanceSensor(Participant participant, byte networkId, byte thingId) : base(participant, networkId, thingId, (byte)Type.TemperatureSensor) {
- }
-
-#if UNITY_5_3_OR_NEWER
- /// @copydoc Passer::RoboidControl::Thing::CreateComponent
- public override void CreateComponent() {
- this.component = Unity.DistanceSensor.Create(this);
- this.component.core = this;
- }
-#endif
- /// <summary>
- /// Function to extract the distance received in the binary message
- /// </summary>
- /// <param name="bytes">The byte array</param>
- public override void ProcessBinary(byte[] bytes) {
- byte ix = 0;
- this.distance = LowLevelMessages.ReceiveFloat16(bytes, ref ix);
- }
-
- }
-
-}
\ No newline at end of file
diff --git a/src/Things/TemperatureSensor.cs b/src/Things/TemperatureSensor.cs
deleted file mode 100644
index 6f7e009..0000000
--- a/src/Things/TemperatureSensor.cs
+++ /dev/null
@@ -1,33 +0,0 @@
-//using System;
-
-namespace RoboidControl {
-
- /// <summary>
- /// A temperature sensor
- /// </summary>
- public class TemperatureSensor : Thing {
- /// <summary>
- /// The measured temperature
- /// </summary>
- public float temperature = 0;
-
- /// <summary>
- /// Create a temperature sensor with the given ID
- /// </summary>
- /// <param name="participant">The participant for with the sensor is needed</param>
- /// <param name="networkId">The network ID of the sensor</param>
- /// <param name="thingId">The ID of the thing</param>
- public TemperatureSensor(LocalParticipant participant, byte networkId, byte thingId) : base(participant, networkId, thingId, (byte)Type.TemperatureSensor) { }
-
- /// <summary>
- /// Function to extract the temperature received in the binary message
- /// </summary>
- /// <param name="bytes">The byte array</param>
- public override void ProcessBinary(byte[] bytes) {
- byte ix = 0;
- this.temperature = LowLevelMessages.ReceiveFloat16(bytes, ref ix);
- //Console.WriteLine($"temperature {this.name} = {this.temperature} C");
- }
- }
-
-}
\ No newline at end of file
diff --git a/src/Things/TouchSensor.cs b/src/Things/TouchSensor.cs
deleted file mode 100644
index 22dc290..0000000
--- a/src/Things/TouchSensor.cs
+++ /dev/null
@@ -1,61 +0,0 @@
-using System;
-
-namespace RoboidControl {
-
- /// <summary>
- /// A sensor which can detect touches
- /// </summary>
- public class TouchSensor : Thing {
-
- /// <summary>
- /// Create a touch sensor
- /// </summary>
- /// <param name="owner">The participant for with the sensor is needed</param>
- /// <param name="invokeEvent">True when the creation should trigger an event</param>
- public TouchSensor(Participant owner, bool invokeEvent = true) : base(owner, invokeEvent) {
- //touchedSomething = false;
- //thisParticipant = owner;
- }
-
- public TouchSensor(Participant owner, byte networkId, byte thingId) : base(owner, networkId, thingId) {
- Console.Write("TouchSensor constructor");
- //touchedSomething = false;
- //thisParticipant = participant;
- }
-
- public TouchSensor(Thing parent) : base(parent) { }
-
- public LocalParticipant thisParticipant;
-
- /// <summary>
- /// Value which is true when the sensor is touching something, false otherwise
- /// </summary>
- //public bool touchedSomething = false;
- private bool _touchedSomething = false;
- public bool touchedSomething {
- get { return _touchedSomething; }
- set {
- _touchedSomething = value;
- if (thisParticipant != null && this.owner != thisParticipant) {
- BinaryMsg msg = new(networkId, this);
- foreach (Participant remoteParticipant in thisParticipant.owners)
- thisParticipant.Send(remoteParticipant, msg);
- }
- }
- }
-
-#if UNITY_5_3_OR_NEWER
- /// @copydoc Passer::RoboidControl::Thing::CreateComponent
- public override void CreateComponent() {
- System.Console.Write("Create touch sensor component");
- this.component = Unity.TouchSensor.Create(this);
- this.component.core = this;
- }
-#endif
- public override byte[] GenerateBinary() {
- byte[] buffer = new byte[1];
- buffer[0] = (byte)(touchedSomething ? 1 : 0);
- return buffer;
- }
- }
-}
\ No newline at end of file
diff --git a/src/TimeManger.cs b/src/TimeManger.cs
deleted file mode 100644
index 875f459..0000000
--- a/src/TimeManger.cs
+++ /dev/null
@@ -1,22 +0,0 @@
-using System.Diagnostics;
-
-namespace RoboidControl {
- public static class TimeManager {
- private static readonly Stopwatch _stopwatch = new Stopwatch();
-
- /// <summary>
- /// Static constructor to start the stopwatch
- /// </summary>
- static TimeManager() {
- _stopwatch.Start();
- }
-
- /// <summary>
- /// Method to get the current time in milliseconds
- /// </summary>
- /// <returns>The current time in milliseconds</returns>
- public static ulong GetCurrentTimeMilliseconds() {
- return (ulong)_stopwatch.ElapsedMilliseconds;
- }
- }
-}
\ No newline at end of file
diff --git a/src/Vector2.cs b/src/Vector2.cs
new file mode 100644
index 0000000..c7d00a4
--- /dev/null
+++ b/src/Vector2.cs
@@ -0,0 +1,363 @@
+using System;
+using System.Numerics;
+
+namespace Passer.LinearAlgebra {
+
+ public class Vector2Of<T> where T : IComparable<T> {
+ public T x;
+ public T y;
+
+ public Vector2Of(T x, T y) {
+ this.x = x;
+ this.y = y;
+ }
+ }
+
+ public class Vector2Int : Vector2Of<int> {
+ public Vector2Int(int x, int y) : base(x, y) { }
+
+ public static Vector2Int operator -(Vector2Int v1, Vector2Int v2) {
+ return new Vector2Int(v1.x - v2.x, v1.y - v2.y);
+ }
+
+ public float magnitude {
+ get {
+ return (float)Math.Sqrt(this.x * this.x + this.y * this.y);
+ }
+ }
+
+ public static float Distance(Vector2Int v1, Vector2Int v2) {
+ return (v1 - v2).magnitude;
+ }
+ }
+
+ public class Vector2Float : Vector2Of<float> {
+ public Vector2Float(float x, float y) : base(x, y) { }
+
+ public static Vector2Float operator -(Vector2Float v1, Vector2Float v2) {
+ return new Vector2Float(v1.x - v2.x, v1.y - v2.y);
+ }
+
+ public float magnitude {
+ get {
+ return (float)Math.Sqrt(this.x * this.x + this.y * this.y);
+ }
+ }
+
+ public static float Distance(Vector2Float v1, Vector2Float v2) {
+ return (v1 - v2).magnitude;
+ }
+ }
+
+ /// <summary>
+ /// 2-dimensional vectors
+ /// </summary>
+ public struct Vector2 : IEquatable<Vector2> {
+
+ /// <summary>
+ /// The right axis of the vector
+ /// </summary>
+ public float x; // left/right
+ /// <summary>
+ /// The upward/forward axis of the vector
+ /// </summary>
+ public float y; // forward/backward
+ // directions are to be inline with Vector3 as much as possible...
+
+ /// <summary>
+ /// Create a new 2-dimensional vector
+ /// </summary>
+ /// <param name="x">x axis value</param>
+ /// <param name="y">y axis value</param>
+ public Vector2(float x, float y) {
+ this.x = x;
+ this.y = y;
+ }
+
+ /// <summary>
+ /// A vector with zero for all axis
+ /// </summary>
+ public static readonly Vector2 zero = new Vector2(0, 0);
+ /// <summary>
+ /// A vector with values (1, 1)
+ /// </summary>
+ public static readonly Vector2 one = new Vector2(1, 1);
+ /// <summary>
+ /// A vector with values (0, 1)
+ /// </summary>
+ public static readonly Vector2 up = new Vector2(0, 1);
+ /// <summary>
+ /// A vector with values (0, -1)
+ /// </summary>
+ public static readonly Vector2 down = new Vector2(0, -1);
+ /// <summary>
+ /// A vector with values (0, 1)
+ /// </summary>
+ public static readonly Vector2 forward = new Vector2(0, 1);
+ /// <summary>
+ /// A vector with values (0, -1)
+ /// </summary>
+ public static readonly Vector2 back = new Vector2(0, -1);
+ /// <summary>
+ /// A vector3 with values (-1, 0)
+ /// </summary>
+ public static readonly Vector2 left = new Vector2(-1, 0);
+ /// <summary>
+ /// A vector with values (1, 0)
+ /// </summary>
+ public static readonly Vector2 right = new Vector2(1, 0);
+
+ /// <summary>
+ /// The squared length of this vector
+ /// </summary>
+ /// <returns>The squared length</returns>
+ /// The squared length is computationally simpler than the real length.
+ /// Think of Pythagoras A^2 + B^2 = C^2.
+ /// This leaves out the calculation of the squared root of C.
+ public float sqrMagnitude {
+ get {
+ float d = x * x + y * y;
+ return d;
+ }
+ }
+
+ /// <summary>
+ /// The length of this vector
+ /// </summary>
+ /// <returns>The length of this vector</returns>
+ public float magnitude {
+ get {
+ float d = (float)Math.Sqrt(x * x + y * y);
+ return d;
+ }
+ }
+
+ /// <summary>
+ /// Convert the vector to a length of a 1
+ /// </summary>
+ /// <returns>The vector with length 1</returns>
+ public Vector2 normalized {
+ get {
+ float l = magnitude;
+ Vector2 v = zero;
+ if (l > Float.epsilon)
+ v = this / l;
+ return v;
+ }
+ }
+
+ /// <summary>
+ /// Add two vectors
+ /// </summary>
+ /// <param name="v1">The first vector</param>
+ /// <param name="v2">The second vector</param>
+ /// <returns>The result of adding the two vectors</returns>
+ public static Vector2 operator +(Vector2 v1, Vector2 v2) {
+ Vector2 v = new Vector2(v1.x + v2.x, v1.y + v2.y);
+ return v;
+ }
+
+ /// <summary>
+ /// Subtract two vectors
+ /// </summary>
+ /// <param name="v1">The first vector</param>
+ /// <param name="v2">The second vector</param>
+ /// <returns>The result of adding the two vectors</returns>
+ public static Vector2 operator -(Vector2 v1, Vector2 v2) {
+ Vector2 v = new Vector2(v1.x - v2.x, v1.y - v2.y);
+ return v;
+ }
+
+ /// <summary>
+ /// Negate the vector
+ /// </summary>
+ /// <param name="v1">The vector to negate</param>
+ /// <returns>The negated vector</returns>
+ /// This will result in a vector pointing in the opposite direction
+ public static Vector2 operator -(Vector2 v1) {
+ Vector2 v = new Vector2(-v1.x, -v1.y);
+ return v;
+ }
+
+ /// <summary>
+ /// Scale a vector uniformly up
+ /// </summary>
+ /// <param name="v1">The vector to scale</param>
+ /// <param name="f">The scaling factor</param>
+ /// <returns>The scaled vector</returns>
+ /// Each component of the vector will be multipled with the same factor.
+ public static Vector2 operator *(Vector2 v1, float f) {
+ Vector2 v = new Vector2(v1.x * f, v1.y * f);
+ return v;
+ }
+
+ /// <summary>
+ /// Scale a vector uniformly up
+ /// </summary>
+ /// <param name="f">The scaling factor</param>
+ /// <param name="v1">The vector to scale</param>
+ /// <returns>The scaled vector</returns>
+ /// Each component of the vector will be multipled with the same factor.
+ public static Vector2 operator *(float f, Vector2 v1) {
+ Vector2 v = new Vector2(f * v1.x, f * v1.y);
+ return v;
+ }
+
+ /// <summary>
+ /// Scale a vector uniformly down
+ /// </summary>
+ /// <param name="v1">The vector to scale</param>
+ /// <param name="f">The scaling factor</param>
+ /// <returns>The scaled vector</returns>
+ /// Each component of the vector will be devided by the same factor.
+ public static Vector2 operator /(Vector2 v1, float f) {
+ Vector2 v = new Vector2(v1.x / f, v1.y / f);
+ return v;
+ }
+
+ /// <summary>
+ /// Tests if the vector has equal values as the given vector
+ /// </summary>
+ /// <param name="v1">The vector to compare to</param>
+ /// <returns><em>true</em> if the vector values are equal</returns>
+ public bool Equals(Vector2 v1) => x == v1.x && y == v1.y;
+
+ /// <summary>
+ /// Tests if the vector is equal to the given object
+ /// </summary>
+ /// <param name="obj">The object to compare to</param>
+ /// <returns><em>false</em> when the object is not a Vector2 or does not have equal values</returns>
+ public override bool Equals(object obj) {
+ if (!(obj is Vector2 v))
+ return false;
+
+ return (x == v.x && y == v.y);
+ }
+
+ /// <summary>
+ /// Tests if the two vectors have equal values
+ /// </summary>
+ /// <param name="v1">The first vector</param>
+ /// <param name="v2">The second vector</param>
+ /// <returns><em>true</em>when the vectors have equal values</returns>
+ /// Note that this uses a Float equality check which cannot be not exact in all cases.
+ /// In most cases it is better to check if the Vector2.Distance between the vectors is smaller than Float.epsilon
+ /// Or more efficient: (v1 - v2).sqrMagnitude < Float.sqrEpsilon
+ public static bool operator ==(Vector2 v1, Vector2 v2) {
+ return (v1.x == v2.x && v1.y == v2.y);
+ }
+
+ /// <summary>
+ /// Tests if two vectors have different values
+ /// </summary>
+ /// <param name="v1">The first vector</param>
+ /// <param name="v2">The second vector</param>
+ /// <returns><em>true</em>when the vectors have different values</returns>
+ /// Note that this uses a Float equality check which cannot be not exact in all case.
+ /// In most cases it is better to check if the Vector2.Distance between the vectors is smaller than Float.epsilon.
+ /// Or more efficient: (v1 - v2).sqrMagnitude < Float.sqrEpsilon
+ public static bool operator !=(Vector2 v1, Vector2 v2) {
+ return (v1.x != v2.x || v1.y != v2.y);
+ }
+
+ /// <summary>
+ /// Get an hash code for the vector
+ /// </summary>
+ /// <returns>The hash code</returns>
+ public override int GetHashCode() {
+ return (x, y).GetHashCode();
+ }
+
+ /// <summary>
+ /// Get the distance between two vectors
+ /// </summary>
+ /// <param name="v1">The first vector</param>
+ /// <param name="v2">The second vector</param>
+ /// <returns>The distance between the two vectors</returns>
+ public static float Distance(Vector2 v1, Vector2 v2) {
+ float x = v1.x - v2.x;
+ float y = v1.y - v2.y;
+ float d = (float)Math.Sqrt(x * x + y * y);
+ return d;
+ }
+
+ /// <summary>
+ /// The dot product of two vectors
+ /// </summary>
+ /// <param name="v1">The first vector</param>
+ /// <param name="v2">The second vector</param>
+ /// <returns>The dot product of the two vectors</returns>
+ public static float Dot(Vector2 v1, Vector2 v2) {
+ return v1.x * v2.x + v1.y * v2.y;
+ }
+
+ /// <summary>
+ /// Lerp between two vectors
+ /// </summary>
+ /// <param name="v1">The from vector</param>
+ /// <param name="v2">The to vector</param>
+ /// <param name="f">The interpolation distance [0..1]</param>
+ /// <returns>The lerped vector</returns>
+ /// The factor f is unclamped. Value 0 matches the *v1* vector, Value 1
+ /// matches the *v2* vector Value -1 is *v1* vector minus the difference
+ /// between *v1* and *v2* etc.
+ public static Vector2 Lerp(Vector2 v1, Vector2 v2, float f) {
+ Vector2 v = v1 + (v2 - v1) * f;
+ return v;
+ }
+
+ /// <summary>
+ /// Calculate the signed angle between two vectors.
+ /// </summary>
+ /// <param name="from">The starting vector</param>
+ /// <param name="to">The ending vector</param>
+ /// <param name="axis">The axis to rotate around</param>
+ /// <returns>The signed angle in degrees</returns>
+ public static float SignedAngle(Vector2 from, Vector2 to) {
+ //float sign = Math.Sign(v1.y * v2.x - v1.x * v2.y);
+ //return Vector2.Angle(v1, v2) * sign;
+
+ float sqrMagFrom = from.sqrMagnitude;
+ float sqrMagTo = to.sqrMagnitude;
+
+ if (sqrMagFrom == 0 || sqrMagTo == 0)
+ return 0;
+ //if (!isfinite(sqrMagFrom) || !isfinite(sqrMagTo))
+ // return nanf("");
+
+ float angleFrom = (float)Math.Atan2(from.y, from.x);
+ float angleTo = (float)Math.Atan2(to.y, to.x);
+ return (angleTo - angleFrom) * Angle.Rad2Deg;
+ }
+
+ /// <summary>
+ /// Rotates the vector with the given angle
+ /// </summary>
+ /// <param name="v1">The vector to rotate</param>
+ /// <param name="angle">The angle in degrees</param>
+ /// <returns></returns>
+ public static Vector2 Rotate(Vector2 v1, float angle) {
+ float sin = (float)Math.Sin(angle * Angle.Deg2Rad);
+ float cos = (float)Math.Cos(angle * Angle.Deg2Rad);
+
+ float tx = v1.x;
+ float ty = v1.y;
+ Vector2 v = new Vector2() {
+ x = (cos * tx) - (sin * ty),
+ y = (sin * tx) + (cos * ty)
+ };
+ return v;
+ }
+
+ /// <summary>
+ /// Map interval of angles between vectors [0..Pi] to interval [0..1]
+ /// </summary>
+ /// <param name="v1">The first vector</param>
+ /// <param name="v2">The second vector</param>
+ /// <returns>The resulting factor in interval [0..1]</returns>
+ /// Vectors a and b must be normalized
+ public static float ToFactor(Vector2 v1, Vector2 v2) {
+ return (1 - Vector2.Dot(v1, v2)) / 2;
+ }
+ }
+}
\ No newline at end of file
diff --git a/src/Vector3.cs b/src/Vector3.cs
new file mode 100644
index 0000000..3b17b06
--- /dev/null
+++ b/src/Vector3.cs
@@ -0,0 +1,179 @@
+#if !UNITY_5_3_OR_NEWER
+using System;
+
+namespace Passer.LinearAlgebra {
+ public class Vector3Of<T> {
+ public T x;
+ public T y;
+ public T z;
+
+ public Vector3Of(T x, T y, T z) {
+ this.x = x;
+ this.y = y;
+ this.z = z;
+ }
+
+ // public uint magnitude {
+ // get => (float)Math.Sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
+ // }
+ }
+
+ public class Vector3Int : Vector3Of<int> {
+ public Vector3Int(int x, int y, int z) : base(x, y, z) { }
+ }
+ public class Vector3Float : Vector3Of<float> {
+ public Vector3Float(float x, float y, float z) : base(x, y, z) { }
+
+ public float magnitude {
+ get => (float)Math.Sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
+ }
+ }
+
+ /// <summary>
+ /// 3-dimensional vectors
+ /// </summary>
+ /// This uses the right-handed coordinate system.
+ public struct Vector3 : IEquatable<Vector3> {
+
+ /// <summary>
+ /// The right axis of the vector
+ /// </summary>
+ public float x; //> left/right
+ /// <summary>
+ /// The upward axis of the vector
+ /// </summary>
+ public float y; //> up/down
+ /// <summary>
+ /// The forward axis of the vector
+ /// </summary>
+ public float z; //> forward/backward
+
+ /// <summary>
+ /// Create a new 3-dimensional vector
+ /// </summary>
+ /// <param name="x">x axis value</param>
+ /// <param name="y">y axis value</param>
+ /// <param name="z">z axis value</param>
+ public Vector3(float x, float y, float z) {
+ this.x = x;
+ this.y = y;
+ this.z = z;
+ }
+
+ /// <summary>
+ /// A vector with zero for all axis
+ /// </summary>
+ public static readonly Vector3 zero = new Vector3(0, 0, 0);
+ /// <summary>
+ /// A vector with one for all axis
+ /// </summary>
+ public static readonly Vector3 one = new Vector3(1, 1, 1);
+ /// <summary>
+ /// A vector3 with values (-1, 0, 0)
+ /// </summary>
+ public static readonly Vector3 left = new Vector3(-1, 0, 0);
+ /// <summary>
+ /// A vector with values (1, 0, 0)
+ /// </summary>
+ public static readonly Vector3 right = new Vector3(1, 0, 0);
+ /// <summary>
+ /// A vector with values (0, -1, 0)
+ /// </summary>
+ public static readonly Vector3 down = new Vector3(0, -1, 0);
+ /// <summary>
+ /// A vector with values (0, 1, 0)
+ /// </summary>
+ public static readonly Vector3 up = new Vector3(0, 1, 0);
+ /// <summary>
+ /// A vector with values (0, 0, -1)
+ /// </summary>
+ public static readonly Vector3 back = new Vector3(0, -1, 0);
+ /// <summary>
+ /// A vector with values (0, 0, 1)
+ /// </summary>
+ public static readonly Vector3 forward = new Vector3(0, 1, 0);
+
+ public float magnitude {
+ get {
+ float d = (float)Math.Sqrt(x * x + y * y);
+ return d;
+ }
+ }
+
+ public Vector3 normalized {
+ get {
+ float l = magnitude;
+ Vector3 v = zero;
+ if (l > Float.epsilon)
+ v = this / l;
+ return v;
+ }
+ }
+
+ public static Vector3 operator +(Vector3 v1, Vector3 v2) {
+ Vector3 v = new Vector3(v1.x + v2.x, v1.y + v2.y, v1.z + v2.z);
+ return v;
+ }
+
+ public static Vector3 operator -(Vector3 v1, Vector3 v2) {
+ Vector3 v = new Vector3(v1.x - v2.x, v1.y - v2.y, v1.z - v2.z);
+ return v;
+ }
+
+ public static Vector3 operator -(Vector3 v1) {
+ Vector3 v = new Vector3(-v1.x, -v1.y, -v1.z);
+ return v;
+ }
+
+ public static Vector3 operator *(Vector3 v1, float d) {
+ Vector3 v = new Vector3(v1.x * d, v1.y * d, v1.z * d);
+ return v;
+ }
+
+ public static Vector3 operator *(float d, Vector3 v1) {
+ Vector3 v = new Vector3(d * v1.x, d * v1.y, d * v1.z);
+ return v;
+ }
+
+ public static Vector3 operator /(Vector3 v1, float d) {
+ Vector3 v = new Vector3(v1.x / d, v1.y / d, v1.z / d);
+ return v;
+ }
+
+ public bool Equals(Vector3 v) => (x == v.x && y == v.y && z == v.z);
+
+ public override bool Equals(object obj) {
+ if (!(obj is Vector3 v))
+ return false;
+
+ return (x == v.x && y == v.y && z == v.z);
+ }
+
+ public static bool operator ==(Vector3 v1, Vector3 v2) {
+ return (v1.x == v2.x && v1.y == v2.y && v1.z == v2.z);
+ }
+
+ public static bool operator !=(Vector3 v1, Vector3 v2) {
+ return (v1.x != v2.x || v1.y != v2.y || v1.z != v2.z);
+ }
+
+ public override int GetHashCode() {
+ return (x, y, z).GetHashCode();
+ }
+
+ public static float Distance(Vector3 v1, Vector3 v2) {
+ return (v2 - v1).magnitude;
+ }
+
+ public static float Dot(Vector3 v1, Vector3 v2) {
+ return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
+ }
+
+ public static Vector3 Lerp(Vector3 v1, Vector3 v2, float f) {
+ Vector3 v = v1 + (v2 - v1) * f;
+ return v;
+ }
+
+ }
+}
+#endif
\ No newline at end of file
diff --git a/src/LinearAlgebra/float16.cs b/src/float16.cs
similarity index 100%
rename from src/LinearAlgebra/float16.cs
rename to src/float16.cs
diff --git a/test/AngleTest.cs b/test/AngleTest.cs
new file mode 100644
index 0000000..85f0cc0
--- /dev/null
+++ b/test/AngleTest.cs
@@ -0,0 +1,162 @@
+#if NUNIT
+using NUnit.Framework;
+using Passer.LinearAlgebra;
+
+namespace LinearAlgebraTest {
+ public class AngleTest {
+
+ [Test]
+ public void Normalize() {
+ float r = 0;
+
+ r = Angle.Normalize(90);
+ Assert.AreEqual(r, 90, "Normalize 90");
+
+ r = Angle.Normalize(-90);
+ Assert.AreEqual(r, -90, "Normalize -90");
+
+ r = Angle.Normalize(270);
+ Assert.AreEqual(r, -90, "Normalize 270");
+
+ r = Angle.Normalize(270 + 360);
+ Assert.AreEqual(r, -90, "Normalize 270+360");
+
+ r = Angle.Normalize(-270);
+ Assert.AreEqual(r, 90, "Normalize -270");
+
+ r = Angle.Normalize(-270 - 360);
+ Assert.AreEqual(r, 90, "Normalize -270-360");
+
+ r = Angle.Normalize(0);
+ Assert.AreEqual(r, 0, "Normalize 0");
+
+ r = Angle.Normalize(float.PositiveInfinity);
+ Assert.AreEqual(r, float.PositiveInfinity, "Normalize INFINITY");
+
+ r = Angle.Normalize(float.NegativeInfinity);
+ Assert.AreEqual(r, float.NegativeInfinity, "Normalize INFINITY");
+ }
+
+ [Test]
+ public void Clamp() {
+ float r = 0;
+
+ r = Angle.Clamp(1, 0, 2);
+ Assert.AreEqual(r, 1, "Clamp 1 0 2");
+
+ r = Angle.Clamp(-1, 0, 2);
+ Assert.AreEqual(r, 0, "Clamp -1 0 2");
+
+ r = Angle.Clamp(3, 0, 2);
+ Assert.AreEqual(r, 2, "Clamp 3 0 2");
+
+ r = Angle.Clamp(1, 0, 0);
+ Assert.AreEqual(r, 0, "Clamp 1 0 0");
+
+ r = Angle.Clamp(0, 0, 0);
+ Assert.AreEqual(r, 0, "Clamp 0 0 0");
+
+ r = Angle.Clamp(0, 1, -1);
+ Assert.AreEqual(r, 1, "Clamp 0 1 -1");
+
+ r = Angle.Clamp(1, 0, float.PositiveInfinity);
+ Assert.AreEqual(r, 1, "Clamp 1 0 INFINITY");
+
+ r = Angle.Clamp(1, float.NegativeInfinity, 1);
+ Assert.AreEqual(r, 1, "Clamp 1 -INFINITY 1");
+ }
+
+ [Test]
+ public void Difference() {
+ float r = 0;
+
+ r = Angle.Difference(0, 90);
+ Assert.AreEqual(r, 90, "Difference 0 90");
+
+ r = Angle.Difference(0, -90);
+ Assert.AreEqual(r, -90, "Difference 0 -90");
+
+ r = Angle.Difference(0, 270);
+ Assert.AreEqual(r, -90, "Difference 0 270");
+
+ r = Angle.Difference(0, -270);
+ Assert.AreEqual(r, 90, "Difference 0 -270");
+
+ r = Angle.Difference(90, 0);
+ Assert.AreEqual(r, -90, "Difference 90 0");
+
+ r = Angle.Difference(-90, 0);
+ Assert.AreEqual(r, 90, "Difference -90 0");
+
+ r = Angle.Difference(0, 0);
+ Assert.AreEqual(r, 0, "Difference 0 0");
+
+ r = Angle.Difference(90, 90);
+ Assert.AreEqual(r, 0, "Difference 90 90");
+
+ r = Angle.Difference(0, float.PositiveInfinity);
+ Assert.AreEqual(r, float.PositiveInfinity, "Difference 0 INFINITY");
+
+ r = Angle.Difference(0, float.NegativeInfinity);
+ Assert.AreEqual(r, float.NegativeInfinity, "Difference 0 -INFINITY");
+
+ r = Angle.Difference(float.NegativeInfinity, float.PositiveInfinity);
+ Assert.AreEqual(r, float.PositiveInfinity, "Difference -INFINITY INFINITY");
+ }
+
+ [Test]
+ public void MoveTowards() {
+ float r = 0;
+
+ r = Angle.MoveTowards(0, 90, 30);
+ Assert.AreEqual(r, 30, "MoveTowards 0 90 30");
+
+ r = Angle.MoveTowards(0, 90, 90);
+ Assert.AreEqual(r, 90, "MoveTowards 0 90 90");
+
+ r = Angle.MoveTowards(0, 90, 180);
+ Assert.AreEqual(r, 90, "MoveTowards 0 90 180");
+
+ r = Angle.MoveTowards(0, 90, 270);
+ Assert.AreEqual(r, 90, "MoveTowrads 0 90 270");
+
+ r = Angle.MoveTowards(0, 90, -30);
+ Assert.AreEqual(r, -30, "MoveTowards 0 90 -30");
+
+ r = Angle.MoveTowards(0, -90, -30);
+ Assert.AreEqual(r, 30, "MoveTowards 0 -90 -30");
+
+ r = Angle.MoveTowards(0, -90, -90);
+ Assert.AreEqual(r, 90, "MoveTowards 0 -90 -90");
+
+ r = Angle.MoveTowards(0, -90, -180);
+ Assert.AreEqual(r, 180, "MoveTowards 0 -90 -180");
+
+ r = Angle.MoveTowards(0, -90, -270);
+ Assert.AreEqual(r, 270, "MoveTowrads 0 -90 -270");
+
+ r = Angle.MoveTowards(0, 90, 0);
+ Assert.AreEqual(r, 0, "MoveTowards 0 90 0");
+
+ r = Angle.MoveTowards(0, 0, 0);
+ Assert.AreEqual(r, 0, "MoveTowards 0 0 0");
+
+ r = Angle.MoveTowards(0, 0, 30);
+ Assert.AreEqual(r, 0, "MoveTowrads 0 0 30");
+
+ r = Angle.MoveTowards(0, 90, float.PositiveInfinity);
+ Assert.AreEqual(r, 90, "MoveTowards 0 90 INFINITY");
+
+ r = Angle.MoveTowards(0, float.PositiveInfinity, 30);
+ Assert.AreEqual(r, 30, "MoveTowrads 0 INFINITY 30");
+
+ r = Angle.MoveTowards(0, -90, float.NegativeInfinity);
+ Assert.AreEqual(r, float.PositiveInfinity, "MoveTowards 0 -90 -INFINITY");
+
+ r = Angle.MoveTowards(0, float.NegativeInfinity, -30);
+ Assert.AreEqual(r, 30, "MoveTowrads 0 -INFINITY -30");
+
+ }
+ }
+}
+#endif
\ No newline at end of file
diff --git a/test/test.csproj b/test/LinearAlgebra_Test.csproj
similarity index 81%
rename from test/test.csproj
rename to test/LinearAlgebra_Test.csproj
index 309ab05..3ee2230 100644
--- a/test/test.csproj
+++ b/test/LinearAlgebra_Test.csproj
@@ -1,4 +1,4 @@
-<Project Sdk="Microsoft.NET.Sdk">
+<Project Sdk="Microsoft.NET.Sdk">
<PropertyGroup>
<TargetFramework>net5.0</TargetFramework>
@@ -13,7 +13,7 @@
</ItemGroup>
<ItemGroup>
- <ProjectReference Include="..\src\RoboidControl.csproj" />
+ <ProjectReference Include="..\src\LinearAlgebra.csproj" />
</ItemGroup>
</Project>
diff --git a/test/UnitTest1.cs b/test/UnitTest1.cs
deleted file mode 100644
index 27012a9..0000000
--- a/test/UnitTest1.cs
+++ /dev/null
@@ -1,87 +0,0 @@
-#if !UNITY_5_3_OR_NEWER
-using System;
-using System.Threading;
-using NUnit.Framework;
-
-using RoboidControl;
-
-namespace RoboidControl.test {
- public class Tests {
- [SetUp]
- public void Setup() {
- }
-
- [Test]
- public void Test_Participant() {
- LocalParticipant participant = new LocalParticipant("127.0.0.1", 7682);
-
- ulong milliseconds = (ulong)DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
- ulong startTime = milliseconds;
- while (milliseconds < startTime + 7000) {
- participant.Update(milliseconds);
-
- Thread.Sleep(100);
- milliseconds = (ulong)DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
- }
-
- Assert.Pass();
- }
-
- [Test]
- public void Test_SiteServer() {
- SiteServer siteServer = new SiteServer(7681);
-
- ulong milliseconds = (ulong)DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
- ulong startTime = milliseconds;
- while (milliseconds < startTime + 7000) {
- siteServer.Update(milliseconds);
-
- Thread.Sleep(100);
- milliseconds = (ulong)DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
- }
-
- Assert.Pass();
- }
-
- [Test]
- public void Test_SiteParticipant() {
- SiteServer siteServer = new SiteServer(7681);
- LocalParticipant participant = new LocalParticipant("127.0.0.1", 7681);
-
- ulong milliseconds = (ulong)DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
- ulong startTime = milliseconds;
- while (milliseconds < startTime + 1000) {
- siteServer.Update(milliseconds);
- participant.Update(milliseconds);
-
- Thread.Sleep(100);
- milliseconds = (ulong)DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
- }
-
- Assert.That(participant.networkId, Is.EqualTo(1));
- }
-
- [Test]
- public void Test_ThingMsg() {
- SiteServer siteServer = new SiteServer(7681);
- LocalParticipant participant = new LocalParticipant("127.0.0.1");
- Thing thing = new Thing(participant, false) {
- name = "First Thing",
- modelUrl = "https://passer.life/extras/ant.jpg"
- };
-
- ulong milliseconds = (ulong)DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
- ulong startTime = milliseconds;
- while (milliseconds < startTime + 7000) {
- siteServer.Update(milliseconds);
- participant.Update(milliseconds);
-
- Thread.Sleep(100);
- milliseconds = (ulong)DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
- }
-
- Assert.That(participant.networkId, Is.EqualTo(1));
- }
- }
-}
-#endif
\ No newline at end of file
From efa9ba852266380641e078741e3f6752c9f0faa7 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pse@pale.blue>
Date: Fri, 7 Mar 2025 15:20:05 +0100
Subject: [PATCH 2/2] Updated namespace
---
.gitignore | 6 +
src/Angle.cs | 21 +-
src/Direction.cs | 18 +-
src/Float.cs | 12 +-
src/Matrix.cs | 1016 +++++++++++++++++++++++++--------------------
src/Quat32.cs | 2 +-
src/Quaternion.cs | 10 +-
src/Spherical.cs | 23 +-
src/SwingTwist.cs | 2 +-
src/Vector2.cs | 114 +++--
src/Vector3.cs | 75 ++--
src/float16.cs | 66 ++-
test/AngleTest.cs | 29 +-
13 files changed, 808 insertions(+), 586 deletions(-)
create mode 100644 .gitignore
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..f0b2f47
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,6 @@
+DoxyGen/DoxyWarnLogfile.txt
+.vscode/settings.json
+**bin
+**obj
+**.meta
+*.sln
diff --git a/src/Angle.cs b/src/Angle.cs
index 78ae979..ca03a50 100644
--- a/src/Angle.cs
+++ b/src/Angle.cs
@@ -1,11 +1,13 @@
using System;
-namespace Passer.LinearAlgebra {
+namespace LinearAlgebra
+{
/// <summary>
/// %Angle utilities
/// </summary>
- public static class Angle {
+ public static class Angle
+ {
public const float pi = 3.1415927410125732421875F;
// public static float Rad2Deg = 360.0f / ((float)Math.PI * 2);
// public static float Deg2Rad = ((float)Math.PI * 2) / 360.0f;
@@ -21,7 +23,8 @@ namespace Passer.LinearAlgebra {
/// <param name="max">The maximum angle</param>
/// <returns>The clamped angle</returns>
/// Angles are normalized
- public static float Clamp(float angle, float min, float max) {
+ public static float Clamp(float angle, float min, float max)
+ {
float normalizedAngle = Normalize(angle);
return Float.Clamp(normalizedAngle, min, max);
}
@@ -33,7 +36,8 @@ namespace Passer.LinearAlgebra {
/// <param name="b">The second angle</param>
/// <returns>the angle between the two angles</returns>
/// Angle values should be degrees
- public static float Difference(float a, float b) {
+ public static float Difference(float a, float b)
+ {
float r = Normalize(b - a);
return r;
}
@@ -44,7 +48,8 @@ namespace Passer.LinearAlgebra {
/// <param name="angle">The angle to normalize</param>
/// <returns>The normalized angle in interval (-180..180] </returns>
/// Angle values should be in degrees
- public static float Normalize(float angle) {
+ public static float Normalize(float angle)
+ {
if (float.IsInfinity(angle))
return angle;
@@ -61,7 +66,8 @@ namespace Passer.LinearAlgebra {
/// <param name="maxAngle">Maximum angle to rotate</param>
/// <returns>The resulting angle</returns>
/// This function is compatible with radian and degrees angles
- public static float MoveTowards(float fromAngle, float toAngle, float maxAngle) {
+ public static float MoveTowards(float fromAngle, float toAngle, float maxAngle)
+ {
float d = toAngle - fromAngle;
d = Normalize(d);
d = Math.Sign(d) * Float.Clamp(Math.Abs(d), 0, maxAngle);
@@ -77,7 +83,8 @@ namespace Passer.LinearAlgebra {
/// Vectors a and b must be normalized
/// \deprecated Please use Vector2.ToFactor instead.
[Obsolete("Please use Vector2.ToFactor instead.")]
- public static float ToFactor(Vector2 v1, Vector2 v2) {
+ public static float ToFactor(Vector2 v1, Vector2 v2)
+ {
return (1 - Vector2.Dot(v1, v2)) / 2;
}
diff --git a/src/Direction.cs b/src/Direction.cs
index bd7477f..258e27e 100644
--- a/src/Direction.cs
+++ b/src/Direction.cs
@@ -1,14 +1,18 @@
-namespace Passer.LinearAlgebra {
+namespace LinearAlgebra
+{
- public class Direction {
+ public class Direction
+ {
public float horizontal;
public float vertical;
- public Direction() {
+ public Direction()
+ {
horizontal = 0;
vertical = 0;
}
- public Direction(float horizontal, float vertical) {
+ public Direction(float horizontal, float vertical)
+ {
this.horizontal = horizontal;
this.vertical = vertical;
//Normalize();
@@ -21,8 +25,10 @@ namespace Passer.LinearAlgebra {
public readonly static Direction left = new Direction(-90, 0);
public readonly static Direction right = new Direction(90, 0);
- public void Normalize() {
- if (this.vertical > 90 || this.vertical < -90) {
+ public void Normalize()
+ {
+ if (this.vertical > 90 || this.vertical < -90)
+ {
this.horizontal += 180;
this.vertical = 180 - this.vertical;
}
diff --git a/src/Float.cs b/src/Float.cs
index 4959b75..70873f0 100644
--- a/src/Float.cs
+++ b/src/Float.cs
@@ -1,9 +1,11 @@
-namespace Passer.LinearAlgebra {
+namespace LinearAlgebra
+{
/// <summary>
/// Float number utilities
/// </summary>
- public class Float {
+ public class Float
+ {
/// <summary>
/// The precision of float numbers
/// </summary>
@@ -20,7 +22,8 @@ namespace Passer.LinearAlgebra {
/// <param name="min">The minimum value</param>
/// <param name="max">The maximum value</param>
/// <returns>The clamped value</returns>
- public static float Clamp(float f, float min, float max) {
+ public static float Clamp(float f, float min, float max)
+ {
if (f < min)
return min;
if (f > max)
@@ -33,7 +36,8 @@ namespace Passer.LinearAlgebra {
/// </summary>
/// <param name="f">The value to clamp</param>
/// <returns>The clamped value</returns>
- public static float Clamp01(float f) {
+ public static float Clamp01(float f)
+ {
return Clamp(f, 0, 1);
}
}
diff --git a/src/Matrix.cs b/src/Matrix.cs
index 4d37dda..1f0542e 100644
--- a/src/Matrix.cs
+++ b/src/Matrix.cs
@@ -1,95 +1,112 @@
using System;
-using System.Diagnostics;
-using Passer.LinearAlgebra;
#if UNITY_5_3_OR_NEWER
using Vector3Float = UnityEngine.Vector3;
using Vector2Float = UnityEngine.Vector2;
using Quaternion = UnityEngine.Quaternion;
#endif
-public readonly struct Slice {
- public uint start { get; }
- public uint stop { get; }
- public Slice(uint start, uint stop) {
- this.start = start;
- this.stop = stop;
- }
-}
+namespace LinearAlgebra
+{
-public class Matrix2 {
- public float[,] data { get; }
-
- public uint nRows => (uint)data.GetLength(0);
- public uint nCols => (uint)data.GetLength(1);
-
- public Matrix2(uint nRows, uint nCols) {
- this.data = new float[nRows, nCols];
- }
- public Matrix2(float[,] data) {
- this.data = data;
- }
-
- public Matrix2 Clone() {
- float[,] data = new float[this.nRows, nCols];
- for (int rowIx = 0; rowIx < this.nRows; rowIx++) {
- for (int colIx = 0; colIx < this.nCols; colIx++)
- data[rowIx, colIx] = this.data[rowIx, colIx];
+ public readonly struct Slice
+ {
+ public uint start { get; }
+ public uint stop { get; }
+ public Slice(uint start, uint stop)
+ {
+ this.start = start;
+ this.stop = stop;
}
- return new Matrix2(data);
}
- public static Matrix2 Zero(uint nRows, uint nCols) {
- return new Matrix2(nRows, nCols);
- }
+ public class Matrix2
+ {
+ public float[,] data { get; }
- public static Matrix2 FromVector3(Vector3Float v) {
- float[,] result = new float[3, 1];
- result[0, 0] = v.x;
- result[1, 0] = v.y;
- result[2, 0] = v.z;
- return new Matrix2(result);
- }
+ public uint nRows => (uint)data.GetLength(0);
+ public uint nCols => (uint)data.GetLength(1);
- public static Matrix2 Identity(uint size) {
- return Diagonal(1, size);
- }
- public static Matrix2 Identity(uint nRows, uint nCols) {
- Matrix2 m = Zero(nRows, nCols);
- m.FillDiagonal(1);
- return m;
- }
+ public Matrix2(uint nRows, uint nCols)
+ {
+ this.data = new float[nRows, nCols];
+ }
+ public Matrix2(float[,] data)
+ {
+ this.data = data;
+ }
- public static Matrix2 Diagonal(Matrix1 v) {
- float[,] resultData = new float[v.size, v.size];
- for (int ix = 0; ix < v.size; ix++)
- resultData[ix, ix] = v.data[ix];
- return new Matrix2(resultData);
- }
- public static Matrix2 Diagonal(float f, uint size) {
- float[,] resultData = new float[size, size];
- for (int ix = 0; ix < size; ix++)
- resultData[ix, ix] = f;
- return new Matrix2(resultData);
- }
- public void FillDiagonal(Matrix1 v) {
- uint n = Math.Min(Math.Min(this.nRows, this.nCols), v.size);
- for (int ix = 0; ix < n; ix++)
- this.data[ix, ix] = v.data[ix];
- }
- public void FillDiagonal(float f) {
- uint n = Math.Min(this.nRows, this.nCols);
- for (int ix = 0; ix < n; ix++)
- this.data[ix, ix] = f;
- }
+ public Matrix2 Clone()
+ {
+ float[,] data = new float[this.nRows, nCols];
+ for (int rowIx = 0; rowIx < this.nRows; rowIx++)
+ {
+ for (int colIx = 0; colIx < this.nCols; colIx++)
+ data[rowIx, colIx] = this.data[rowIx, colIx];
+ }
+ return new Matrix2(data);
+ }
- public static Matrix2 SkewMatrix(Vector3Float v) {
- float[,] result = new float[3, 3] {
+ public static Matrix2 Zero(uint nRows, uint nCols)
+ {
+ return new Matrix2(nRows, nCols);
+ }
+
+ public static Matrix2 FromVector3(Vector3Float v)
+ {
+ float[,] result = new float[3, 1];
+ result[0, 0] = v.x;
+ result[1, 0] = v.y;
+ result[2, 0] = v.z;
+ return new Matrix2(result);
+ }
+
+ public static Matrix2 Identity(uint size)
+ {
+ return Diagonal(1, size);
+ }
+ public static Matrix2 Identity(uint nRows, uint nCols)
+ {
+ Matrix2 m = Zero(nRows, nCols);
+ m.FillDiagonal(1);
+ return m;
+ }
+
+ public static Matrix2 Diagonal(Matrix1 v)
+ {
+ float[,] resultData = new float[v.size, v.size];
+ for (int ix = 0; ix < v.size; ix++)
+ resultData[ix, ix] = v.data[ix];
+ return new Matrix2(resultData);
+ }
+ public static Matrix2 Diagonal(float f, uint size)
+ {
+ float[,] resultData = new float[size, size];
+ for (int ix = 0; ix < size; ix++)
+ resultData[ix, ix] = f;
+ return new Matrix2(resultData);
+ }
+ public void FillDiagonal(Matrix1 v)
+ {
+ uint n = Math.Min(Math.Min(this.nRows, this.nCols), v.size);
+ for (int ix = 0; ix < n; ix++)
+ this.data[ix, ix] = v.data[ix];
+ }
+ public void FillDiagonal(float f)
+ {
+ uint n = Math.Min(this.nRows, this.nCols);
+ for (int ix = 0; ix < n; ix++)
+ this.data[ix, ix] = f;
+ }
+
+ public static Matrix2 SkewMatrix(Vector3Float v)
+ {
+ float[,] result = new float[3, 3] {
{0, -v.z, v.y},
{v.z, 0, -v.x},
{-v.y, v.x, 0}
};
- return new Matrix2(result);
- }
+ return new Matrix2(result);
+ }
#if UNITY_5_3_OR_NEWER
public Vector3Float GetRow3(int rowIx) {
@@ -101,336 +118,396 @@ public class Matrix2 {
};
return row;
}
-#endif
- public void SetRow(int rowIx, Matrix1 v) {
- for (uint ix = 0; ix < v.size; ix++)
- this.data[rowIx, ix] = v.data[ix];
- }
- public void SetRow3(int rowIx, Vector3Float v) {
- this.data[rowIx, 0] = v.x;
- this.data[rowIx, 1] = v.y;
- this.data[rowIx, 2] = v.z;
- }
-
- public Matrix1 GetColumn(int colIx) {
- float[] column = new float[this.nRows];
- for (int i = 0; i < this.nRows; i++) {
- column[i] = this.data[i, colIx];
+#endif
+ public void SetRow(int rowIx, Matrix1 v)
+ {
+ for (uint ix = 0; ix < v.size; ix++)
+ this.data[rowIx, ix] = v.data[ix];
+ }
+ public void SetRow3(int rowIx, Vector3Float v)
+ {
+ this.data[rowIx, 0] = v.x;
+ this.data[rowIx, 1] = v.y;
+ this.data[rowIx, 2] = v.z;
}
- return new Matrix1(column);
- }
- public static bool AllClose(Matrix2 A, Matrix2 B, float atol = 1e-08f) {
- for (int i = 0; i < A.nRows; i++) {
- for (int j = 0; j < A.nCols; j++) {
- float d = MathF.Abs(A.data[i, j] - B.data[i, j]);
- if (d > atol)
- return false;
+ public Matrix1 GetColumn(int colIx)
+ {
+ float[] column = new float[this.nRows];
+ for (int i = 0; i < this.nRows; i++)
+ {
+ column[i] = this.data[i, colIx];
+ }
+ return new Matrix1(column);
+ }
+
+ public static bool AllClose(Matrix2 A, Matrix2 B, float atol = 1e-08f)
+ {
+ for (int i = 0; i < A.nRows; i++)
+ {
+ for (int j = 0; j < A.nCols; j++)
+ {
+ float d = MathF.Abs(A.data[i, j] - B.data[i, j]);
+ if (d > atol)
+ return false;
+ }
+ }
+ return true;
+ }
+
+ public Matrix2 Transpose()
+ {
+ float[,] resultData = new float[this.nCols, this.nRows];
+ for (uint rowIx = 0; rowIx < this.nRows; rowIx++)
+ {
+ for (uint colIx = 0; colIx < this.nCols; colIx++)
+ resultData[colIx, rowIx] = this.data[rowIx, colIx];
+ }
+ return new Matrix2(resultData);
+ // double checked code
+ }
+ public Matrix2 transposed
+ {
+ get => Transpose();
+ }
+
+ public static Matrix2 operator -(Matrix2 m)
+ {
+ float[,] result = new float[m.nRows, m.nCols];
+
+ for (int i = 0; i < m.nRows; i++)
+ {
+ for (int j = 0; j < m.nCols; j++)
+ result[i, j] = -m.data[i, j];
+ }
+ return new Matrix2(result);
+ }
+
+ public static Matrix2 operator -(Matrix2 A, Matrix2 B)
+ {
+ if (A.nRows != B.nRows || A.nCols != B.nCols)
+ throw new System.ArgumentException("Size of A must match size of B.");
+
+ float[,] result = new float[A.nRows, B.nCols];
+
+ for (int i = 0; i < A.nRows; i++)
+ {
+ for (int j = 0; j < A.nCols; j++)
+ result[i, j] = A.data[i, j] - B.data[i, j];
+ }
+ return new Matrix2(result);
+ }
+
+ public static Matrix2 operator +(Matrix2 A, Matrix2 B)
+ {
+ if (A.nRows != B.nRows || A.nCols != B.nCols)
+ throw new System.ArgumentException("Size of A must match size of B.");
+
+ float[,] result = new float[A.nRows, B.nCols];
+
+ for (int i = 0; i < A.nRows; i++)
+ {
+ for (int j = 0; j < A.nCols; j++)
+ result[i, j] = A.data[i, j] + B.data[i, j];
+ }
+ return new Matrix2(result);
+ }
+
+ public static Matrix2 operator *(Matrix2 A, Matrix2 B)
+ {
+ if (A.nCols != B.nRows)
+ throw new System.ArgumentException("Number of columns in A must match number of rows in B.");
+
+ float[,] result = new float[A.nRows, B.nCols];
+
+ for (int i = 0; i < A.nRows; i++)
+ {
+ for (int j = 0; j < B.nCols; j++)
+ {
+ float sum = 0.0f;
+ for (int k = 0; k < A.nCols; k++)
+ sum += A.data[i, k] * B.data[k, j];
+
+ result[i, j] = sum;
+ }
+ }
+
+ return new Matrix2(result);
+ // double checked code
+ }
+
+ public static Matrix1 operator *(Matrix2 A, Matrix1 v)
+ {
+ float[] result = new float[A.nRows];
+
+ for (int i = 0; i < A.nRows; i++)
+ {
+ for (int j = 0; j < A.nCols; j++)
+ {
+ result[i] += A.data[i, j] * v.data[j];
+ }
+ }
+
+ return new Matrix1(result);
+ }
+
+ public static Vector3Float operator *(Matrix2 A, Vector3Float v)
+ {
+ return new Vector3Float(
+ A.data[0, 0] * v.x + A.data[0, 1] * v.y + A.data[0, 2] * v.z,
+ A.data[1, 0] * v.x + A.data[1, 1] * v.y + A.data[1, 2] * v.z,
+ A.data[2, 0] * v.x + A.data[2, 1] * v.y + A.data[2, 2] * v.z
+ );
+ }
+
+ public static Matrix2 operator *(Matrix2 A, float s)
+ {
+ float[,] result = new float[A.nRows, A.nCols];
+
+ for (int i = 0; i < A.nRows; i++)
+ {
+ for (int j = 0; j < A.nCols; j++)
+ result[i, j] = A.data[i, j] * s;
+ }
+
+ return new Matrix2(result);
+ }
+ public static Matrix2 operator *(float s, Matrix2 A)
+ {
+ return A * s;
+ }
+
+ public static Matrix2 operator /(Matrix2 A, float s)
+ {
+ float[,] result = new float[A.nRows, A.nCols];
+
+ for (int i = 0; i < A.nRows; i++)
+ {
+ for (int j = 0; j < A.nCols; j++)
+ result[i, j] = A.data[i, j] / s;
+ }
+
+ return new Matrix2(result);
+ }
+ public static Matrix2 operator /(float s, Matrix2 A)
+ {
+ float[,] result = new float[A.nRows, A.nCols];
+
+ for (int i = 0; i < A.nRows; i++)
+ {
+ for (int j = 0; j < A.nCols; j++)
+ result[i, j] = s / A.data[i, j];
+ }
+
+ return new Matrix2(result);
+ }
+
+ public Matrix2 Slice(Slice slice)
+ {
+ return Slice(slice.start, slice.stop);
+ }
+ public Matrix2 Slice(uint from, uint to)
+ {
+ if (from < 0 || to >= this.nRows)
+ throw new System.ArgumentException("Slice index out of range.");
+
+ float[,] result = new float[to - from, this.nCols];
+ int resultRowIx = 0;
+ for (uint rowIx = from; rowIx < to; rowIx++)
+ {
+ for (int colIx = 0; colIx < this.nCols; colIx++)
+ {
+ result[resultRowIx, colIx] = this.data[rowIx, colIx];
+ }
+ resultRowIx++;
+ }
+
+ return new Matrix2(result);
+ }
+ public Matrix2 Slice(Slice rowRange, Slice colRange)
+ {
+ return Slice((rowRange.start, rowRange.stop), (colRange.start, colRange.stop));
+ }
+
+ public Matrix2 Slice((uint start, uint stop) rowRange, (uint start, uint stop) colRange)
+ {
+ float[,] result = new float[rowRange.stop - rowRange.start, colRange.stop - colRange.start];
+
+ uint resultRowIx = 0;
+ uint resultColIx = 0;
+ for (uint i = rowRange.start; i < rowRange.stop; i++)
+ {
+ for (uint j = colRange.start; j < colRange.stop; j++)
+ result[resultRowIx, resultColIx] = this.data[i, j];
+ }
+ return new Matrix2(result);
+ }
+
+ public void UpdateSlice(Slice slice, Matrix2 m)
+ {
+ int mRowIx = 0;
+ for (uint rowIx = slice.start; rowIx < slice.stop; rowIx++, mRowIx++)
+ {
+ for (int colIx = 0; colIx < this.nCols; colIx++)
+ this.data[rowIx, colIx] = m.data[mRowIx, colIx];
}
}
- return true;
- }
-
- public Matrix2 Transpose() {
- float[,] resultData = new float[this.nCols, this.nRows];
- for (uint rowIx = 0; rowIx < this.nRows; rowIx++) {
- for (uint colIx = 0; colIx < this.nCols; colIx++)
- resultData[colIx, rowIx] = this.data[rowIx, colIx];
+ public void UpdateSlice(Slice rowRange, Slice colRange, Matrix2 m)
+ {
+ UpdateSlice((rowRange.start, rowRange.stop), (colRange.start, colRange.stop), m);
}
- return new Matrix2(resultData);
- // double checked code
- }
- public Matrix2 transposed {
- get => Transpose();
- }
-
- public static Matrix2 operator -(Matrix2 m) {
- float[,] result = new float[m.nRows, m.nCols];
-
- for (int i = 0; i < m.nRows; i++) {
- for (int j = 0; j < m.nCols; j++)
- result[i, j] = -m.data[i, j];
- }
- return new Matrix2(result);
- }
-
- public static Matrix2 operator -(Matrix2 A, Matrix2 B) {
- if (A.nRows != B.nRows || A.nCols != B.nCols)
- throw new System.ArgumentException("Size of A must match size of B.");
-
- float[,] result = new float[A.nRows, B.nCols];
-
- for (int i = 0; i < A.nRows; i++) {
- for (int j = 0; j < A.nCols; j++)
- result[i, j] = A.data[i, j] - B.data[i, j];
- }
- return new Matrix2(result);
- }
-
- public static Matrix2 operator +(Matrix2 A, Matrix2 B) {
- if (A.nRows != B.nRows || A.nCols != B.nCols)
- throw new System.ArgumentException("Size of A must match size of B.");
-
- float[,] result = new float[A.nRows, B.nCols];
-
- for (int i = 0; i < A.nRows; i++) {
- for (int j = 0; j < A.nCols; j++)
- result[i, j] = A.data[i, j] + B.data[i, j];
- }
- return new Matrix2(result);
- }
-
- public static Matrix2 operator *(Matrix2 A, Matrix2 B) {
- if (A.nCols != B.nRows)
- throw new System.ArgumentException("Number of columns in A must match number of rows in B.");
-
- float[,] result = new float[A.nRows, B.nCols];
-
- for (int i = 0; i < A.nRows; i++) {
- for (int j = 0; j < B.nCols; j++) {
- float sum = 0.0f;
- for (int k = 0; k < A.nCols; k++)
- sum += A.data[i, k] * B.data[k, j];
-
- result[i, j] = sum;
+ public void UpdateSlice((uint start, uint stop) rowRange, (uint start, uint stop) colRange, Matrix2 m)
+ {
+ for (uint i = rowRange.start; i < rowRange.stop; i++)
+ {
+ for (uint j = colRange.start; j < colRange.stop; j++)
+ this.data[i, j] = m.data[i - rowRange.start, j - colRange.start];
}
}
- return new Matrix2(result);
- // double checked code
- }
+ public Matrix2 Inverse()
+ {
+ Matrix2 A = this;
+ // unchecked
+ uint n = A.nRows;
- public static Matrix1 operator *(Matrix2 A, Matrix1 v) {
- float[] result = new float[A.nRows];
-
- for (int i = 0; i < A.nRows; i++) {
- for (int j = 0; j < A.nCols; j++) {
- result[i] += A.data[i, j] * v.data[j];
+ // Create an identity matrix of the same size as the original matrix
+ float[,] augmentedMatrix = new float[n, 2 * n];
+ for (int i = 0; i < n; i++)
+ {
+ for (int j = 0; j < n; j++)
+ {
+ augmentedMatrix[i, j] = A.data[i, j];
+ augmentedMatrix[i, j + n] = (i == j) ? 1 : 0; // Identity matrix
+ }
}
- }
- return new Matrix1(result);
- }
+ // Perform Gaussian elimination
+ for (int i = 0; i < n; i++)
+ {
+ // Find the pivot row
+ float pivot = augmentedMatrix[i, i];
+ if (Math.Abs(pivot) < 1e-10) // Check for singular matrix
+ throw new InvalidOperationException("Matrix is singular and cannot be inverted.");
- public static Vector3Float operator *(Matrix2 A, Vector3Float v) {
- return new Vector3Float(
- A.data[0, 0] * v.x + A.data[0, 1] * v.y + A.data[0, 2] * v.z,
- A.data[1, 0] * v.x + A.data[1, 1] * v.y + A.data[1, 2] * v.z,
- A.data[2, 0] * v.x + A.data[2, 1] * v.y + A.data[2, 2] * v.z
- );
- }
+ // Normalize the pivot row
+ for (int j = 0; j < 2 * n; j++)
+ augmentedMatrix[i, j] /= pivot;
- public static Matrix2 operator *(Matrix2 A, float s) {
- float[,] result = new float[A.nRows, A.nCols];
-
- for (int i = 0; i < A.nRows; i++) {
- for (int j = 0; j < A.nCols; j++)
- result[i, j] = A.data[i, j] * s;
- }
-
- return new Matrix2(result);
- }
- public static Matrix2 operator *(float s, Matrix2 A) {
- return A * s;
- }
-
- public static Matrix2 operator /(Matrix2 A, float s) {
- float[,] result = new float[A.nRows, A.nCols];
-
- for (int i = 0; i < A.nRows; i++) {
- for (int j = 0; j < A.nCols; j++)
- result[i, j] = A.data[i, j] / s;
- }
-
- return new Matrix2(result);
- }
- public static Matrix2 operator /(float s, Matrix2 A) {
- float[,] result = new float[A.nRows, A.nCols];
-
- for (int i = 0; i < A.nRows; i++) {
- for (int j = 0; j < A.nCols; j++)
- result[i, j] = s / A.data[i, j];
- }
-
- return new Matrix2(result);
- }
-
- public Matrix2 Slice(Slice slice) {
- return Slice(slice.start, slice.stop);
- }
- public Matrix2 Slice(uint from, uint to) {
- if (from < 0 || to >= this.nRows)
- throw new System.ArgumentException("Slice index out of range.");
-
- float[,] result = new float[to - from, this.nCols];
- int resultRowIx = 0;
- for (uint rowIx = from; rowIx < to; rowIx++) {
- for (int colIx = 0; colIx < this.nCols; colIx++) {
- result[resultRowIx, colIx] = this.data[rowIx, colIx];
+ // Eliminate the column below the pivot
+ for (int j = i + 1; j < n; j++)
+ {
+ float factor = augmentedMatrix[j, i];
+ for (int k = 0; k < 2 * n; k++)
+ augmentedMatrix[j, k] -= factor * augmentedMatrix[i, k];
+ }
}
- resultRowIx++;
- }
- return new Matrix2(result);
- }
- public Matrix2 Slice(Slice rowRange, Slice colRange) {
- return Slice((rowRange.start, rowRange.stop), (colRange.start, colRange.stop));
- }
-
- public Matrix2 Slice((uint start, uint stop) rowRange, (uint start, uint stop) colRange) {
- float[,] result = new float[rowRange.stop - rowRange.start, colRange.stop - colRange.start];
-
- uint resultRowIx = 0;
- uint resultColIx = 0;
- for (uint i = rowRange.start; i < rowRange.stop; i++) {
- for (uint j = colRange.start; j < colRange.stop; j++)
- result[resultRowIx, resultColIx] = this.data[i, j];
- }
- return new Matrix2(result);
- }
-
- public void UpdateSlice(Slice slice, Matrix2 m) {
- int mRowIx = 0;
- for (uint rowIx = slice.start; rowIx < slice.stop; rowIx++, mRowIx++) {
- for (int colIx = 0; colIx < this.nCols; colIx++)
- this.data[rowIx, colIx] = m.data[mRowIx, colIx];
- }
- }
- public void UpdateSlice(Slice rowRange, Slice colRange, Matrix2 m) {
- UpdateSlice((rowRange.start, rowRange.stop), (colRange.start, colRange.stop), m);
- }
- public void UpdateSlice((uint start, uint stop) rowRange, (uint start, uint stop) colRange, Matrix2 m) {
- for (uint i = rowRange.start; i < rowRange.stop; i++) {
- for (uint j = colRange.start; j < colRange.stop; j++)
- this.data[i, j] = m.data[i - rowRange.start, j - colRange.start];
- }
- }
-
- public Matrix2 Inverse() {
- Matrix2 A = this;
- // unchecked
- uint n = A.nRows;
-
- // Create an identity matrix of the same size as the original matrix
- float[,] augmentedMatrix = new float[n, 2 * n];
- for (int i = 0; i < n; i++) {
- for (int j = 0; j < n; j++) {
- augmentedMatrix[i, j] = A.data[i, j];
- augmentedMatrix[i, j + n] = (i == j) ? 1 : 0; // Identity matrix
+ // Back substitution
+ for (uint i = n - 1; i >= 0; i--)
+ {
+ // Eliminate the column above the pivot
+ for (uint j = i - 1; j >= 0; j--)
+ {
+ float factor = augmentedMatrix[j, i];
+ for (int k = 0; k < 2 * n; k++)
+ augmentedMatrix[j, k] -= factor * augmentedMatrix[i, k];
+ }
}
- }
- // Perform Gaussian elimination
- for (int i = 0; i < n; i++) {
- // Find the pivot row
- float pivot = augmentedMatrix[i, i];
- if (Math.Abs(pivot) < 1e-10) // Check for singular matrix
- throw new InvalidOperationException("Matrix is singular and cannot be inverted.");
-
- // Normalize the pivot row
- for (int j = 0; j < 2 * n; j++)
- augmentedMatrix[i, j] /= pivot;
-
- // Eliminate the column below the pivot
- for (int j = i + 1; j < n; j++) {
- float factor = augmentedMatrix[j, i];
- for (int k = 0; k < 2 * n; k++)
- augmentedMatrix[j, k] -= factor * augmentedMatrix[i, k];
+ // Extract the inverse matrix from the augmented matrix
+ float[,] inverse = new float[n, n];
+ for (int i = 0; i < n; i++)
+ {
+ for (int j = 0; j < n; j++)
+ inverse[i, j] = augmentedMatrix[i, j + n];
}
+
+ return new Matrix2(inverse);
}
- // Back substitution
- for (uint i = n - 1; i >= 0; i--) {
- // Eliminate the column above the pivot
- for (uint j = i - 1; j >= 0; j--) {
- float factor = augmentedMatrix[j, i];
- for (int k = 0; k < 2 * n; k++)
- augmentedMatrix[j, k] -= factor * augmentedMatrix[i, k];
+ public float Determinant()
+ {
+ uint n = this.nRows;
+ if (n != this.nCols)
+ throw new System.ArgumentException("Matrix must be square.");
+
+ if (n == 1)
+ return this.data[0, 0]; // Base case for 1x1 matrix
+
+ if (n == 2) // Base case for 2x2 matrix
+ return this.data[0, 0] * this.data[1, 1] - this.data[0, 1] * this.data[1, 0];
+
+ float det = 0;
+ for (int col = 0; col < n; col++)
+ det += (col % 2 == 0 ? 1 : -1) * this.data[0, col] * this.Minor(0, col).Determinant();
+
+ return det;
+ }
+
+ // Helper function to compute the minor of a matrix
+ private Matrix2 Minor(int rowToRemove, int colToRemove)
+ {
+ uint n = this.nRows;
+ float[,] minor = new float[n - 1, n - 1];
+
+ int r = 0, c = 0;
+ for (int i = 0; i < n; i++)
+ {
+ if (i == rowToRemove) continue;
+
+ c = 0;
+ for (int j = 0; j < n; j++)
+ {
+ if (j == colToRemove) continue;
+
+ minor[r, c] = this.data[i, j];
+ c++;
+ }
+ r++;
}
+
+ return new Matrix2(minor);
+ }
+ }
+
+ public class Matrix1
+ {
+ public float[] data { get; }
+
+ public uint size => (uint)data.GetLength(0);
+
+ public Matrix1(uint size)
+ {
+ this.data = new float[size];
}
- // Extract the inverse matrix from the augmented matrix
- float[,] inverse = new float[n, n];
- for (int i = 0; i < n; i++) {
- for (int j = 0; j < n; j++)
- inverse[i, j] = augmentedMatrix[i, j + n];
+ public Matrix1(float[] data)
+ {
+ this.data = data;
}
- return new Matrix2(inverse);
- }
-
- public float Determinant() {
- uint n = this.nRows;
- if (n != this.nCols)
- throw new System.ArgumentException("Matrix must be square.");
-
- if (n == 1)
- return this.data[0, 0]; // Base case for 1x1 matrix
-
- if (n == 2) // Base case for 2x2 matrix
- return this.data[0, 0] * this.data[1, 1] - this.data[0, 1] * this.data[1, 0];
-
- float det = 0;
- for (int col = 0; col < n; col++)
- det += (col % 2 == 0 ? 1 : -1) * this.data[0, col] * this.Minor(0, col).Determinant();
-
- return det;
- }
-
- // Helper function to compute the minor of a matrix
- private Matrix2 Minor(int rowToRemove, int colToRemove) {
- uint n = this.nRows;
- float[,] minor = new float[n - 1, n - 1];
-
- int r = 0, c = 0;
- for (int i = 0; i < n; i++) {
- if (i == rowToRemove) continue;
-
- c = 0;
- for (int j = 0; j < n; j++) {
- if (j == colToRemove) continue;
-
- minor[r, c] = this.data[i, j];
- c++;
- }
- r++;
+ public static Matrix1 Zero(uint size)
+ {
+ return new Matrix1(size);
}
- return new Matrix2(minor);
- }
-}
+ public static Matrix1 FromVector2(Vector2Float v)
+ {
+ float[] result = new float[2];
+ result[0] = v.x;
+ result[1] = v.y;
+ return new Matrix1(result);
+ }
-public class Matrix1 {
- public float[] data { get; }
-
- public uint size => (uint)data.GetLength(0);
-
- public Matrix1(uint size) {
- this.data = new float[size];
- }
-
- public Matrix1(float[] data) {
- this.data = data;
- }
-
- public static Matrix1 Zero(uint size) {
- return new Matrix1(size);
- }
-
- public static Matrix1 FromVector2(Vector2Float v) {
- float[] result = new float[2];
- result[0] = v.x;
- result[1] = v.y;
- return new Matrix1(result);
- }
-
- public static Matrix1 FromVector3(Vector3Float v) {
- float[] result = new float[3];
- result[0] = v.x;
- result[1] = v.y;
- result[2] = v.z;
- return new Matrix1(result);
- }
+ public static Matrix1 FromVector3(Vector3Float v)
+ {
+ float[] result = new float[3];
+ result[0] = v.x;
+ result[1] = v.y;
+ result[2] = v.z;
+ return new Matrix1(result);
+ }
#if UNITY_5_3_OR_NEWER
public static Matrix1 FromQuaternion(Quaternion q) {
@@ -443,20 +520,24 @@ public class Matrix1 {
}
#endif
- public Vector2Float vector2 {
- get {
- if (this.size != 2)
- throw new System.ArgumentException("Matrix1 must be of size 2");
- return new Vector2Float(this.data[0], this.data[1]);
+ public Vector2Float vector2
+ {
+ get
+ {
+ if (this.size != 2)
+ throw new System.ArgumentException("Matrix1 must be of size 2");
+ return new Vector2Float(this.data[0], this.data[1]);
+ }
}
- }
- public Vector3Float vector3 {
- get {
- if (this.size != 3)
- throw new System.ArgumentException("Matrix1 must be of size 3");
- return new Vector3Float(this.data[0], this.data[1], this.data[2]);
+ public Vector3Float vector3
+ {
+ get
+ {
+ if (this.size != 3)
+ throw new System.ArgumentException("Matrix1 must be of size 3");
+ return new Vector3Float(this.data[0], this.data[1], this.data[2]);
+ }
}
- }
#if UNITY_5_3_OR_NEWER
public Quaternion quaternion {
@@ -468,82 +549,97 @@ public class Matrix1 {
}
#endif
- public Matrix1 Clone() {
- float[] data = new float[this.size];
- for (int rowIx = 0; rowIx < this.size; rowIx++)
- data[rowIx] = this.data[rowIx];
- return new Matrix1(data);
- }
+ public Matrix1 Clone()
+ {
+ float[] data = new float[this.size];
+ for (int rowIx = 0; rowIx < this.size; rowIx++)
+ data[rowIx] = this.data[rowIx];
+ return new Matrix1(data);
+ }
- public float magnitude {
- get {
- float sum = 0;
- foreach (var elm in data)
- sum += elm;
- return sum / data.Length;
+ public float magnitude
+ {
+ get
+ {
+ float sum = 0;
+ foreach (var elm in data)
+ sum += elm;
+ return sum / data.Length;
+ }
+ }
+ public static Matrix1 operator +(Matrix1 A, Matrix1 B)
+ {
+ if (A.size != B.size)
+ throw new System.ArgumentException("Size of A must match size of B.");
+
+ float[] result = new float[A.size];
+
+ for (int i = 0; i < A.size; i++)
+ {
+ result[i] = A.data[i] + B.data[i];
+ }
+ return new Matrix1(result);
+ }
+
+ public Matrix2 Transpose()
+ {
+ float[,] r = new float[1, this.size];
+ for (uint colIx = 0; colIx < this.size; colIx++)
+ r[1, colIx] = this.data[colIx];
+
+ return new Matrix2(r);
+ }
+
+ public static float Dot(Matrix1 a, Matrix1 b)
+ {
+ if (a.size != b.size)
+ throw new System.ArgumentException("Vectors must be of the same length.");
+
+ float result = 0.0f;
+ for (int i = 0; i < a.size; i++)
+ {
+ result += a.data[i] * b.data[i];
+ }
+ return result;
+ }
+
+ public static Matrix1 operator *(Matrix1 A, float f)
+ {
+ float[] result = new float[A.size];
+
+ for (int i = 0; i < A.size; i++)
+ result[i] += A.data[i] * f;
+
+ return new Matrix1(result);
+ }
+ public static Matrix1 operator *(float f, Matrix1 A)
+ {
+ return A * f;
+ }
+
+ public Matrix1 Slice(Slice range)
+ {
+ return Slice(range.start, range.stop);
+ }
+ public Matrix1 Slice(uint from, uint to)
+ {
+ if (from < 0 || to >= this.size)
+ throw new System.ArgumentException("Slice index out of range.");
+
+ float[] result = new float[to - from];
+ int resultIx = 0;
+ for (uint ix = from; ix < to; ix++)
+ result[resultIx++] = this.data[ix];
+
+ return new Matrix1(result);
+ }
+ public void UpdateSlice(Slice slice, Matrix1 v)
+ {
+ int vIx = 0;
+ for (uint ix = slice.start; ix < slice.stop; ix++, vIx++)
+ this.data[ix] = v.data[vIx];
}
}
- public static Matrix1 operator +(Matrix1 A, Matrix1 B) {
- if (A.size != B.size)
- throw new System.ArgumentException("Size of A must match size of B.");
- float[] result = new float[A.size];
-
- for (int i = 0; i < A.size; i++) {
- result[i] = A.data[i] + B.data[i];
- }
- return new Matrix1(result);
- }
-
- public Matrix2 Transpose() {
- float[,] r = new float[1, this.size];
- for (uint colIx = 0; colIx < this.size; colIx++)
- r[1, colIx] = this.data[colIx];
-
- return new Matrix2(r);
- }
-
- public static float Dot(Matrix1 a, Matrix1 b) {
- if (a.size != b.size)
- throw new System.ArgumentException("Vectors must be of the same length.");
-
- float result = 0.0f;
- for (int i = 0; i < a.size; i++) {
- result += a.data[i] * b.data[i];
- }
- return result;
- }
-
- public static Matrix1 operator *(Matrix1 A, float f) {
- float[] result = new float[A.size];
-
- for (int i = 0; i < A.size; i++)
- result[i] += A.data[i] * f;
-
- return new Matrix1(result);
- }
- public static Matrix1 operator *(float f, Matrix1 A) {
- return A * f;
- }
-
- public Matrix1 Slice(Slice range) {
- return Slice(range.start, range.stop);
- }
- public Matrix1 Slice(uint from, uint to) {
- if (from < 0 || to >= this.size)
- throw new System.ArgumentException("Slice index out of range.");
-
- float[] result = new float[to - from];
- int resultIx = 0;
- for (uint ix = from; ix < to; ix++)
- result[resultIx++] = this.data[ix];
-
- return new Matrix1(result);
- }
- public void UpdateSlice(Slice slice, Matrix1 v) {
- int vIx = 0;
- for (uint ix = slice.start; ix < slice.stop; ix++, vIx++)
- this.data[ix] = v.data[vIx];
- }
}
\ No newline at end of file
diff --git a/src/Quat32.cs b/src/Quat32.cs
index 6bebd04..3026f8e 100644
--- a/src/Quat32.cs
+++ b/src/Quat32.cs
@@ -1,6 +1,6 @@
using System;
-namespace Passer.LinearAlgebra
+namespace LinearAlgebra
{
public class Quat32
{
diff --git a/src/Quaternion.cs b/src/Quaternion.cs
index 57f8f5d..f481ef4 100644
--- a/src/Quaternion.cs
+++ b/src/Quaternion.cs
@@ -2,15 +2,19 @@ using System;
#if UNITY_5_3_OR_NEWER
using Quaternion = UnityEngine.Quaternion;
#endif
-namespace Passer.LinearAlgebra {
- public class QuaternionOf<T> {
+namespace LinearAlgebra
+{
+
+ public class QuaternionOf<T>
+ {
public T x;
public T y;
public T z;
public T w;
- public QuaternionOf(T x, T y, T z, T w) {
+ public QuaternionOf(T x, T y, T z, T w)
+ {
this.x = x;
this.y = y;
this.z = z;
diff --git a/src/Spherical.cs b/src/Spherical.cs
index be0c38a..497a508 100644
--- a/src/Spherical.cs
+++ b/src/Spherical.cs
@@ -3,35 +3,42 @@ using System;
using Vector3Float = UnityEngine.Vector3;
#endif
-namespace Passer.LinearAlgebra {
- public class Spherical {
+namespace LinearAlgebra
+{
+ public class Spherical
+ {
public float distance;
public Direction direction;
public static Spherical zero = new Spherical(0, 0, 0);
public static Spherical forward = new Spherical(1, 0, 0);
- public Spherical(float distance, float horizontal, float vertical) {
+ public Spherical(float distance, float horizontal, float vertical)
+ {
this.distance = distance;
this.direction = new Direction(horizontal, vertical);
}
- public Spherical(float distance, Direction direction) {
+ public Spherical(float distance, Direction direction)
+ {
this.distance = distance;
this.direction = direction;
}
- public static Spherical FromVector3(Vector3Float v) {
+ public static Spherical FromVector3(Vector3Float v)
+ {
float distance = v.magnitude;
if (distance == 0.0f)
return new Spherical(distance, 0, 0);
- else {
+ else
+ {
float verticalAngle = (float)((Angle.pi / 2 - Math.Acos(v.y / distance)) * Angle.Rad2Deg);
- float horizontalAngle = (float) Math.Atan2(v.x, v.z) * Angle.Rad2Deg;
+ float horizontalAngle = (float)Math.Atan2(v.x, v.z) * Angle.Rad2Deg;
return new Spherical(distance, horizontalAngle, verticalAngle);
}
}
- public Vector3Float ToVector3() {
+ public Vector3Float ToVector3()
+ {
float verticalRad = (Angle.pi / 2) - this.direction.vertical * Angle.Deg2Rad;
float horizontalRad = this.direction.horizontal * Angle.Deg2Rad;
float cosVertical = (float)Math.Cos(verticalRad);
diff --git a/src/SwingTwist.cs b/src/SwingTwist.cs
index 7f4bbfd..a7a73da 100644
--- a/src/SwingTwist.cs
+++ b/src/SwingTwist.cs
@@ -1,4 +1,4 @@
-namespace Passer.LinearAlgebra
+namespace LinearAlgebra
{
public class SwingTwist
diff --git a/src/Vector2.cs b/src/Vector2.cs
index c7d00a4..603b0de 100644
--- a/src/Vector2.cs
+++ b/src/Vector2.cs
@@ -1,50 +1,63 @@
using System;
using System.Numerics;
-namespace Passer.LinearAlgebra {
+namespace LinearAlgebra
+{
- public class Vector2Of<T> where T : IComparable<T> {
+ public class Vector2Of<T> where T : IComparable<T>
+ {
public T x;
public T y;
- public Vector2Of(T x, T y) {
+ public Vector2Of(T x, T y)
+ {
this.x = x;
this.y = y;
}
}
- public class Vector2Int : Vector2Of<int> {
+ public class Vector2Int : Vector2Of<int>
+ {
public Vector2Int(int x, int y) : base(x, y) { }
- public static Vector2Int operator -(Vector2Int v1, Vector2Int v2) {
+ public static Vector2Int operator -(Vector2Int v1, Vector2Int v2)
+ {
return new Vector2Int(v1.x - v2.x, v1.y - v2.y);
}
- public float magnitude {
- get {
+ public float magnitude
+ {
+ get
+ {
return (float)Math.Sqrt(this.x * this.x + this.y * this.y);
}
}
- public static float Distance(Vector2Int v1, Vector2Int v2) {
+ public static float Distance(Vector2Int v1, Vector2Int v2)
+ {
return (v1 - v2).magnitude;
}
}
- public class Vector2Float : Vector2Of<float> {
+ public class Vector2Float : Vector2Of<float>
+ {
public Vector2Float(float x, float y) : base(x, y) { }
- public static Vector2Float operator -(Vector2Float v1, Vector2Float v2) {
+ public static Vector2Float operator -(Vector2Float v1, Vector2Float v2)
+ {
return new Vector2Float(v1.x - v2.x, v1.y - v2.y);
}
- public float magnitude {
- get {
+ public float magnitude
+ {
+ get
+ {
return (float)Math.Sqrt(this.x * this.x + this.y * this.y);
}
}
- public static float Distance(Vector2Float v1, Vector2Float v2) {
+ public static float Distance(Vector2Float v1, Vector2Float v2)
+ {
return (v1 - v2).magnitude;
}
}
@@ -52,7 +65,8 @@ namespace Passer.LinearAlgebra {
/// <summary>
/// 2-dimensional vectors
/// </summary>
- public struct Vector2 : IEquatable<Vector2> {
+ public struct Vector2 : IEquatable<Vector2>
+ {
/// <summary>
/// The right axis of the vector
@@ -69,7 +83,8 @@ namespace Passer.LinearAlgebra {
/// </summary>
/// <param name="x">x axis value</param>
/// <param name="y">y axis value</param>
- public Vector2(float x, float y) {
+ public Vector2(float x, float y)
+ {
this.x = x;
this.y = y;
}
@@ -114,8 +129,10 @@ namespace Passer.LinearAlgebra {
/// The squared length is computationally simpler than the real length.
/// Think of Pythagoras A^2 + B^2 = C^2.
/// This leaves out the calculation of the squared root of C.
- public float sqrMagnitude {
- get {
+ public float sqrMagnitude
+ {
+ get
+ {
float d = x * x + y * y;
return d;
}
@@ -125,8 +142,10 @@ namespace Passer.LinearAlgebra {
/// The length of this vector
/// </summary>
/// <returns>The length of this vector</returns>
- public float magnitude {
- get {
+ public float magnitude
+ {
+ get
+ {
float d = (float)Math.Sqrt(x * x + y * y);
return d;
}
@@ -136,8 +155,10 @@ namespace Passer.LinearAlgebra {
/// Convert the vector to a length of a 1
/// </summary>
/// <returns>The vector with length 1</returns>
- public Vector2 normalized {
- get {
+ public Vector2 normalized
+ {
+ get
+ {
float l = magnitude;
Vector2 v = zero;
if (l > Float.epsilon)
@@ -152,7 +173,8 @@ namespace Passer.LinearAlgebra {
/// <param name="v1">The first vector</param>
/// <param name="v2">The second vector</param>
/// <returns>The result of adding the two vectors</returns>
- public static Vector2 operator +(Vector2 v1, Vector2 v2) {
+ public static Vector2 operator +(Vector2 v1, Vector2 v2)
+ {
Vector2 v = new Vector2(v1.x + v2.x, v1.y + v2.y);
return v;
}
@@ -163,7 +185,8 @@ namespace Passer.LinearAlgebra {
/// <param name="v1">The first vector</param>
/// <param name="v2">The second vector</param>
/// <returns>The result of adding the two vectors</returns>
- public static Vector2 operator -(Vector2 v1, Vector2 v2) {
+ public static Vector2 operator -(Vector2 v1, Vector2 v2)
+ {
Vector2 v = new Vector2(v1.x - v2.x, v1.y - v2.y);
return v;
}
@@ -174,7 +197,8 @@ namespace Passer.LinearAlgebra {
/// <param name="v1">The vector to negate</param>
/// <returns>The negated vector</returns>
/// This will result in a vector pointing in the opposite direction
- public static Vector2 operator -(Vector2 v1) {
+ public static Vector2 operator -(Vector2 v1)
+ {
Vector2 v = new Vector2(-v1.x, -v1.y);
return v;
}
@@ -186,7 +210,8 @@ namespace Passer.LinearAlgebra {
/// <param name="f">The scaling factor</param>
/// <returns>The scaled vector</returns>
/// Each component of the vector will be multipled with the same factor.
- public static Vector2 operator *(Vector2 v1, float f) {
+ public static Vector2 operator *(Vector2 v1, float f)
+ {
Vector2 v = new Vector2(v1.x * f, v1.y * f);
return v;
}
@@ -198,7 +223,8 @@ namespace Passer.LinearAlgebra {
/// <param name="v1">The vector to scale</param>
/// <returns>The scaled vector</returns>
/// Each component of the vector will be multipled with the same factor.
- public static Vector2 operator *(float f, Vector2 v1) {
+ public static Vector2 operator *(float f, Vector2 v1)
+ {
Vector2 v = new Vector2(f * v1.x, f * v1.y);
return v;
}
@@ -210,7 +236,8 @@ namespace Passer.LinearAlgebra {
/// <param name="f">The scaling factor</param>
/// <returns>The scaled vector</returns>
/// Each component of the vector will be devided by the same factor.
- public static Vector2 operator /(Vector2 v1, float f) {
+ public static Vector2 operator /(Vector2 v1, float f)
+ {
Vector2 v = new Vector2(v1.x / f, v1.y / f);
return v;
}
@@ -227,7 +254,8 @@ namespace Passer.LinearAlgebra {
/// </summary>
/// <param name="obj">The object to compare to</param>
/// <returns><em>false</em> when the object is not a Vector2 or does not have equal values</returns>
- public override bool Equals(object obj) {
+ public override bool Equals(object obj)
+ {
if (!(obj is Vector2 v))
return false;
@@ -243,7 +271,8 @@ namespace Passer.LinearAlgebra {
/// Note that this uses a Float equality check which cannot be not exact in all cases.
/// In most cases it is better to check if the Vector2.Distance between the vectors is smaller than Float.epsilon
/// Or more efficient: (v1 - v2).sqrMagnitude < Float.sqrEpsilon
- public static bool operator ==(Vector2 v1, Vector2 v2) {
+ public static bool operator ==(Vector2 v1, Vector2 v2)
+ {
return (v1.x == v2.x && v1.y == v2.y);
}
@@ -256,7 +285,8 @@ namespace Passer.LinearAlgebra {
/// Note that this uses a Float equality check which cannot be not exact in all case.
/// In most cases it is better to check if the Vector2.Distance between the vectors is smaller than Float.epsilon.
/// Or more efficient: (v1 - v2).sqrMagnitude < Float.sqrEpsilon
- public static bool operator !=(Vector2 v1, Vector2 v2) {
+ public static bool operator !=(Vector2 v1, Vector2 v2)
+ {
return (v1.x != v2.x || v1.y != v2.y);
}
@@ -264,7 +294,8 @@ namespace Passer.LinearAlgebra {
/// Get an hash code for the vector
/// </summary>
/// <returns>The hash code</returns>
- public override int GetHashCode() {
+ public override int GetHashCode()
+ {
return (x, y).GetHashCode();
}
@@ -274,7 +305,8 @@ namespace Passer.LinearAlgebra {
/// <param name="v1">The first vector</param>
/// <param name="v2">The second vector</param>
/// <returns>The distance between the two vectors</returns>
- public static float Distance(Vector2 v1, Vector2 v2) {
+ public static float Distance(Vector2 v1, Vector2 v2)
+ {
float x = v1.x - v2.x;
float y = v1.y - v2.y;
float d = (float)Math.Sqrt(x * x + y * y);
@@ -287,7 +319,8 @@ namespace Passer.LinearAlgebra {
/// <param name="v1">The first vector</param>
/// <param name="v2">The second vector</param>
/// <returns>The dot product of the two vectors</returns>
- public static float Dot(Vector2 v1, Vector2 v2) {
+ public static float Dot(Vector2 v1, Vector2 v2)
+ {
return v1.x * v2.x + v1.y * v2.y;
}
@@ -301,7 +334,8 @@ namespace Passer.LinearAlgebra {
/// The factor f is unclamped. Value 0 matches the *v1* vector, Value 1
/// matches the *v2* vector Value -1 is *v1* vector minus the difference
/// between *v1* and *v2* etc.
- public static Vector2 Lerp(Vector2 v1, Vector2 v2, float f) {
+ public static Vector2 Lerp(Vector2 v1, Vector2 v2, float f)
+ {
Vector2 v = v1 + (v2 - v1) * f;
return v;
}
@@ -313,7 +347,8 @@ namespace Passer.LinearAlgebra {
/// <param name="to">The ending vector</param>
/// <param name="axis">The axis to rotate around</param>
/// <returns>The signed angle in degrees</returns>
- public static float SignedAngle(Vector2 from, Vector2 to) {
+ public static float SignedAngle(Vector2 from, Vector2 to)
+ {
//float sign = Math.Sign(v1.y * v2.x - v1.x * v2.y);
//return Vector2.Angle(v1, v2) * sign;
@@ -336,13 +371,15 @@ namespace Passer.LinearAlgebra {
/// <param name="v1">The vector to rotate</param>
/// <param name="angle">The angle in degrees</param>
/// <returns></returns>
- public static Vector2 Rotate(Vector2 v1, float angle) {
+ public static Vector2 Rotate(Vector2 v1, float angle)
+ {
float sin = (float)Math.Sin(angle * Angle.Deg2Rad);
float cos = (float)Math.Cos(angle * Angle.Deg2Rad);
float tx = v1.x;
float ty = v1.y;
- Vector2 v = new Vector2() {
+ Vector2 v = new Vector2()
+ {
x = (cos * tx) - (sin * ty),
y = (sin * tx) + (cos * ty)
};
@@ -356,7 +393,8 @@ namespace Passer.LinearAlgebra {
/// <param name="v2">The second vector</param>
/// <returns>The resulting factor in interval [0..1]</returns>
/// Vectors a and b must be normalized
- public static float ToFactor(Vector2 v1, Vector2 v2) {
+ public static float ToFactor(Vector2 v1, Vector2 v2)
+ {
return (1 - Vector2.Dot(v1, v2)) / 2;
}
}
diff --git a/src/Vector3.cs b/src/Vector3.cs
index 3b17b06..616b82e 100644
--- a/src/Vector3.cs
+++ b/src/Vector3.cs
@@ -1,13 +1,16 @@
#if !UNITY_5_3_OR_NEWER
using System;
-namespace Passer.LinearAlgebra {
- public class Vector3Of<T> {
+namespace LinearAlgebra
+{
+ public class Vector3Of<T>
+ {
public T x;
public T y;
public T z;
- public Vector3Of(T x, T y, T z) {
+ public Vector3Of(T x, T y, T z)
+ {
this.x = x;
this.y = y;
this.z = z;
@@ -18,13 +21,16 @@ namespace Passer.LinearAlgebra {
// }
}
- public class Vector3Int : Vector3Of<int> {
+ public class Vector3Int : Vector3Of<int>
+ {
public Vector3Int(int x, int y, int z) : base(x, y, z) { }
}
- public class Vector3Float : Vector3Of<float> {
+ public class Vector3Float : Vector3Of<float>
+ {
public Vector3Float(float x, float y, float z) : base(x, y, z) { }
- public float magnitude {
+ public float magnitude
+ {
get => (float)Math.Sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
}
}
@@ -33,7 +39,8 @@ namespace Passer.LinearAlgebra {
/// 3-dimensional vectors
/// </summary>
/// This uses the right-handed coordinate system.
- public struct Vector3 : IEquatable<Vector3> {
+ public struct Vector3 : IEquatable<Vector3>
+ {
/// <summary>
/// The right axis of the vector
@@ -54,7 +61,8 @@ namespace Passer.LinearAlgebra {
/// <param name="x">x axis value</param>
/// <param name="y">y axis value</param>
/// <param name="z">z axis value</param>
- public Vector3(float x, float y, float z) {
+ public Vector3(float x, float y, float z)
+ {
this.x = x;
this.y = y;
this.z = z;
@@ -93,15 +101,19 @@ namespace Passer.LinearAlgebra {
/// </summary>
public static readonly Vector3 forward = new Vector3(0, 1, 0);
- public float magnitude {
- get {
+ public float magnitude
+ {
+ get
+ {
float d = (float)Math.Sqrt(x * x + y * y);
return d;
}
}
- public Vector3 normalized {
- get {
+ public Vector3 normalized
+ {
+ get
+ {
float l = magnitude;
Vector3 v = zero;
if (l > Float.epsilon)
@@ -110,66 +122,79 @@ namespace Passer.LinearAlgebra {
}
}
- public static Vector3 operator +(Vector3 v1, Vector3 v2) {
+ public static Vector3 operator +(Vector3 v1, Vector3 v2)
+ {
Vector3 v = new Vector3(v1.x + v2.x, v1.y + v2.y, v1.z + v2.z);
return v;
}
- public static Vector3 operator -(Vector3 v1, Vector3 v2) {
+ public static Vector3 operator -(Vector3 v1, Vector3 v2)
+ {
Vector3 v = new Vector3(v1.x - v2.x, v1.y - v2.y, v1.z - v2.z);
return v;
}
- public static Vector3 operator -(Vector3 v1) {
+ public static Vector3 operator -(Vector3 v1)
+ {
Vector3 v = new Vector3(-v1.x, -v1.y, -v1.z);
return v;
}
- public static Vector3 operator *(Vector3 v1, float d) {
+ public static Vector3 operator *(Vector3 v1, float d)
+ {
Vector3 v = new Vector3(v1.x * d, v1.y * d, v1.z * d);
return v;
}
- public static Vector3 operator *(float d, Vector3 v1) {
+ public static Vector3 operator *(float d, Vector3 v1)
+ {
Vector3 v = new Vector3(d * v1.x, d * v1.y, d * v1.z);
return v;
}
- public static Vector3 operator /(Vector3 v1, float d) {
+ public static Vector3 operator /(Vector3 v1, float d)
+ {
Vector3 v = new Vector3(v1.x / d, v1.y / d, v1.z / d);
return v;
}
public bool Equals(Vector3 v) => (x == v.x && y == v.y && z == v.z);
- public override bool Equals(object obj) {
+ public override bool Equals(object obj)
+ {
if (!(obj is Vector3 v))
return false;
return (x == v.x && y == v.y && z == v.z);
}
- public static bool operator ==(Vector3 v1, Vector3 v2) {
+ public static bool operator ==(Vector3 v1, Vector3 v2)
+ {
return (v1.x == v2.x && v1.y == v2.y && v1.z == v2.z);
}
- public static bool operator !=(Vector3 v1, Vector3 v2) {
+ public static bool operator !=(Vector3 v1, Vector3 v2)
+ {
return (v1.x != v2.x || v1.y != v2.y || v1.z != v2.z);
}
- public override int GetHashCode() {
+ public override int GetHashCode()
+ {
return (x, y, z).GetHashCode();
}
- public static float Distance(Vector3 v1, Vector3 v2) {
+ public static float Distance(Vector3 v1, Vector3 v2)
+ {
return (v2 - v1).magnitude;
}
- public static float Dot(Vector3 v1, Vector3 v2) {
+ public static float Dot(Vector3 v1, Vector3 v2)
+ {
return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
}
- public static Vector3 Lerp(Vector3 v1, Vector3 v2, float f) {
+ public static Vector3 Lerp(Vector3 v1, Vector3 v2, float f)
+ {
Vector3 v = v1 + (v2 - v1) * f;
return v;
}
diff --git a/src/float16.cs b/src/float16.cs
index 4195ee6..5d94014 100644
--- a/src/float16.cs
+++ b/src/float16.cs
@@ -1,8 +1,10 @@
using System;
-namespace Passer.LinearAlgebra {
+namespace LinearAlgebra
+{
- public class float16 {
+ public class float16
+ {
//
// FILE: float16.cpp
// AUTHOR: Rob Tillaart
@@ -14,12 +16,14 @@ namespace Passer.LinearAlgebra {
public float16() { _value = 0; }
- public float16(float f) {
+ public float16(float f)
+ {
//_value = f32tof16(f);
_value = F32ToF16__(f);
}
- public float toFloat() {
+ public float toFloat()
+ {
return f16tof32(_value);
}
@@ -153,7 +157,8 @@ namespace Passer.LinearAlgebra {
//
// CORE CONVERSION
//
- float f16tof32(ushort _value) {
+ float f16tof32(ushort _value)
+ {
//ushort sgn;
ushort man;
int exp;
@@ -168,11 +173,13 @@ namespace Passer.LinearAlgebra {
//Debug.Log($"{sgn} {exp} {man}");
// ZERO
- if ((_value & 0x7FFF) == 0) {
+ if ((_value & 0x7FFF) == 0)
+ {
return sgn ? -0 : 0;
}
// NAN & INF
- if (exp == 0x001F) {
+ if (exp == 0x001F)
+ {
if (man == 0)
return sgn ? float.NegativeInfinity : float.PositiveInfinity; //-INFINITY : INFINITY;
else
@@ -186,43 +193,50 @@ namespace Passer.LinearAlgebra {
f = 1;
// PROCESS MANTISSE
- for (int i = 9; i >= 0; i--) {
+ for (int i = 9; i >= 0; i--)
+ {
f *= 2;
if ((man & (1 << i)) != 0)
f = f + 1;
}
//Debug.Log($"{f}");
f = f * (float)Math.Pow(2.0f, exp - 25);
- if (exp == 0) {
+ if (exp == 0)
+ {
f = f * (float)Math.Pow(2.0f, -13); // 5.96046447754e-8;
}
//Debug.Log($"{f}");
return sgn ? -f : f;
}
- public static uint SingleToInt32Bits(float value) {
+ public static uint SingleToInt32Bits(float value)
+ {
byte[] bytes = BitConverter.GetBytes(value);
if (BitConverter.IsLittleEndian)
Array.Reverse(bytes); // If the system is little-endian, reverse the byte order
return BitConverter.ToUInt32(bytes, 0);
}
- public ushort F32ToF16__(float f) {
+ public ushort F32ToF16__(float f)
+ {
uint t = BitConverter.ToUInt32(BitConverter.GetBytes(f), 0);
ushort man = (ushort)((t & 0x007FFFFF) >> 12);
int exp = (int)((t & 0x7F800000) >> 23);
bool sgn = (t & 0x80000000) != 0;
// handle 0
- if ((t & 0x7FFFFFFF) == 0) {
+ if ((t & 0x7FFFFFFF) == 0)
+ {
return sgn ? (ushort)0x8000 : (ushort)0x0000;
}
// denormalized float32 does not fit in float16
- if (exp == 0x00) {
+ if (exp == 0x00)
+ {
return sgn ? (ushort)0x8000 : (ushort)0x0000;
}
// handle infinity & NAN
- if (exp == 0x00FF) {
+ if (exp == 0x00FF)
+ {
if (man != 0)
return 0xFE00; // NAN
return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF
@@ -231,11 +245,13 @@ namespace Passer.LinearAlgebra {
// normal numbers
exp = exp - 127 + 15;
// overflow does not fit => INF
- if (exp > 30) {
+ if (exp > 30)
+ {
return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF
}
// subnormal numbers
- if (exp < -38) {
+ if (exp < -38)
+ {
return sgn ? (ushort)0x8000 : (ushort)0x0000; // -0 or 0 ? just 0 ?
}
if (exp <= 0) // subnormal
@@ -260,7 +276,8 @@ namespace Passer.LinearAlgebra {
}
//This function is faulty!!!!
- ushort f32tof16(float f) {
+ ushort f32tof16(float f)
+ {
//uint t = *(uint*)&f;
//uint t = (uint)BitConverter.SingleToInt32Bits(f);
uint t = SingleToInt32Bits(f);
@@ -270,15 +287,18 @@ namespace Passer.LinearAlgebra {
bool sgn = (t & 0x80000000) != 0;
// handle 0
- if ((t & 0x7FFFFFFF) == 0) {
+ if ((t & 0x7FFFFFFF) == 0)
+ {
return sgn ? (ushort)0x8000 : (ushort)0x0000;
}
// denormalized float32 does not fit in float16
- if (exp == 0x00) {
+ if (exp == 0x00)
+ {
return sgn ? (ushort)0x8000 : (ushort)0x0000;
}
// handle infinity & NAN
- if (exp == 0x00FF) {
+ if (exp == 0x00FF)
+ {
if (man != 0)
return 0xFE00; // NAN
return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF
@@ -287,11 +307,13 @@ namespace Passer.LinearAlgebra {
// normal numbers
exp = (short)(exp - 127 + 15);
// overflow does not fit => INF
- if (exp > 30) {
+ if (exp > 30)
+ {
return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF
}
// subnormal numbers
- if (exp < -38) {
+ if (exp < -38)
+ {
return sgn ? (ushort)0x8000 : (ushort)0x0000; // -0 or 0 ? just 0 ?
}
if (exp <= 0) // subnormal
diff --git a/test/AngleTest.cs b/test/AngleTest.cs
index 85f0cc0..75522f3 100644
--- a/test/AngleTest.cs
+++ b/test/AngleTest.cs
@@ -1,12 +1,17 @@
-#if NUNIT
using NUnit.Framework;
-using Passer.LinearAlgebra;
-namespace LinearAlgebraTest {
- public class AngleTest {
+namespace LinearAlgebra.Test
+{
+ public class Tests
+ {
+ [SetUp]
+ public void Setup()
+ {
+ }
[Test]
- public void Normalize() {
+ public void Test_Normalize()
+ {
float r = 0;
r = Angle.Normalize(90);
@@ -38,7 +43,8 @@ namespace LinearAlgebraTest {
}
[Test]
- public void Clamp() {
+ public void Clamp()
+ {
float r = 0;
r = Angle.Clamp(1, 0, 2);
@@ -63,11 +69,12 @@ namespace LinearAlgebraTest {
Assert.AreEqual(r, 1, "Clamp 1 0 INFINITY");
r = Angle.Clamp(1, float.NegativeInfinity, 1);
- Assert.AreEqual(r, 1, "Clamp 1 -INFINITY 1");
+ Assert.AreEqual(r, 1, "Clamp 1 -INFINITY 1");
}
[Test]
- public void Difference() {
+ public void Difference()
+ {
float r = 0;
r = Angle.Difference(0, 90);
@@ -105,7 +112,8 @@ namespace LinearAlgebraTest {
}
[Test]
- public void MoveTowards() {
+ public void MoveTowards()
+ {
float r = 0;
r = Angle.MoveTowards(0, 90, 30);
@@ -158,5 +166,4 @@ namespace LinearAlgebraTest {
}
}
-}
-#endif
\ No newline at end of file
+}
\ No newline at end of file