From 9a2eaae182a1ed456e4060c35c5ff905f3d7e972 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pse@pale.blue>
Date: Wed, 12 Mar 2025 14:52:14 +0100
Subject: [PATCH] Migrated to RoboidControl
---
.editorconfig | 19 +
.gitignore | 5 +
.gitlab-ci.yml | 26 +
.vscode/launch.json | 14 +
DoxyGen/Doxyfile | 2861 ++++++++++++++++++
DoxyGen/DoxygenLayout.xml | 226 ++
DoxyGen/custom_doxygen.css | 12 +
Examples/BB2B/BB2B.csproj | 11 +
Examples/BB2B/Program.cs | 31 +
LinearAlgebra/.gitignore | 6 +
LinearAlgebra/src/Angle.cs | 117 +
LinearAlgebra/src/Direction.cs | 60 +
LinearAlgebra/src/Float.cs | 45 +
LinearAlgebra/src/LinearAlgebra.csproj | 14 +
LinearAlgebra/src/Matrix.cs | 645 ++++
LinearAlgebra/src/Quat32.cs | 98 +
LinearAlgebra/src/Quaternion.cs | 80 +
LinearAlgebra/src/Spherical.cs | 57 +
LinearAlgebra/src/SwingTwist.cs | 46 +
LinearAlgebra/src/Vector2.cs | 401 +++
LinearAlgebra/src/Vector3.cs | 204 ++
LinearAlgebra/src/float16.cs | 344 +++
LinearAlgebra/test/AngleTest.cs | 171 ++
LinearAlgebra/test/LinearAlgebra_Test.csproj | 19 +
README.md | 10 +
RoboidControl-csharp.code-workspace | 8 +
RoboidControl.sln | 55 +
Unity/DebugConsole.cs | 25 +
Unity/DistanceSensor.cs | 67 +
Unity/SiteServer.cs | 38 +
Unity/Thing.cs | 116 +
Unity/TouchSensor.cs | 87 +
src/LocalParticipant.cs | 356 +++
src/Messages/BinaryMsg.cs | 83 +
src/Messages/DestroyMsg.cs | 51 +
src/Messages/InvestigateMsg.cs | 46 +
src/Messages/LowLevelMessages.cs | 98 +
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 | 100 +
src/RoboidControl.csproj | 14 +
src/SiteServer.cs | 81 +
src/Thing.cs | 434 +++
src/Things/DifferentialDrive.cs | 50 +
src/Things/DistanceSensor.cs | 44 +
src/Things/TemperatureSensor.cs | 33 +
src/Things/TouchSensor.cs | 62 +
src/TimeManager.cs | 25 +
test/RoboidControl_Test.csproj | 19 +
test/UnitTest1.cs | 87 +
56 files changed, 8049 insertions(+)
create mode 100644 .editorconfig
create mode 100644 .gitignore
create mode 100644 .gitlab-ci.yml
create mode 100644 .vscode/launch.json
create mode 100644 DoxyGen/Doxyfile
create mode 100644 DoxyGen/DoxygenLayout.xml
create mode 100644 DoxyGen/custom_doxygen.css
create mode 100644 Examples/BB2B/BB2B.csproj
create mode 100644 Examples/BB2B/Program.cs
create mode 100644 LinearAlgebra/.gitignore
create mode 100644 LinearAlgebra/src/Angle.cs
create mode 100644 LinearAlgebra/src/Direction.cs
create mode 100644 LinearAlgebra/src/Float.cs
create mode 100644 LinearAlgebra/src/LinearAlgebra.csproj
create mode 100644 LinearAlgebra/src/Matrix.cs
create mode 100644 LinearAlgebra/src/Quat32.cs
create mode 100644 LinearAlgebra/src/Quaternion.cs
create mode 100644 LinearAlgebra/src/Spherical.cs
create mode 100644 LinearAlgebra/src/SwingTwist.cs
create mode 100644 LinearAlgebra/src/Vector2.cs
create mode 100644 LinearAlgebra/src/Vector3.cs
create mode 100644 LinearAlgebra/src/float16.cs
create mode 100644 LinearAlgebra/test/AngleTest.cs
create mode 100644 LinearAlgebra/test/LinearAlgebra_Test.csproj
create mode 100644 README.md
create mode 100644 RoboidControl-csharp.code-workspace
create mode 100644 RoboidControl.sln
create mode 100644 Unity/DebugConsole.cs
create mode 100644 Unity/DistanceSensor.cs
create mode 100644 Unity/SiteServer.cs
create mode 100644 Unity/Thing.cs
create mode 100644 Unity/TouchSensor.cs
create mode 100644 src/LocalParticipant.cs
create mode 100644 src/Messages/BinaryMsg.cs
create mode 100644 src/Messages/DestroyMsg.cs
create mode 100644 src/Messages/InvestigateMsg.cs
create mode 100644 src/Messages/LowLevelMessages.cs
create mode 100644 src/Messages/Messages.cs
create mode 100644 src/Messages/ModelUrlMsg.cs
create mode 100644 src/Messages/NameMsg.cs
create mode 100644 src/Messages/NetworkIdMsg.cs
create mode 100644 src/Messages/ParticipantMsg.cs
create mode 100644 src/Messages/PoseMsg.cs
create mode 100644 src/Messages/TextMsg.cs
create mode 100644 src/Messages/ThingMsg.cs
create mode 100644 src/Participant.cs
create mode 100644 src/RoboidControl.csproj
create mode 100644 src/SiteServer.cs
create mode 100644 src/Thing.cs
create mode 100644 src/Things/DifferentialDrive.cs
create mode 100644 src/Things/DistanceSensor.cs
create mode 100644 src/Things/TemperatureSensor.cs
create mode 100644 src/Things/TouchSensor.cs
create mode 100644 src/TimeManager.cs
create mode 100644 test/RoboidControl_Test.csproj
create mode 100644 test/UnitTest1.cs
diff --git a/.editorconfig b/.editorconfig
new file mode 100644
index 0000000..1ec7f97
--- /dev/null
+++ b/.editorconfig
@@ -0,0 +1,19 @@
+# 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
new file mode 100644
index 0000000..3a21083
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,5 @@
+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
new file mode 100644
index 0000000..e1ab762
--- /dev/null
+++ b/.gitlab-ci.yml
@@ -0,0 +1,26 @@
+# 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
new file mode 100644
index 0000000..ee82cc1
--- /dev/null
+++ b/.vscode/launch.json
@@ -0,0 +1,14 @@
+{
+ // 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/Doxyfile b/DoxyGen/Doxyfile
new file mode 100644
index 0000000..ae7a013
--- /dev/null
+++ b/DoxyGen/Doxyfile
@@ -0,0 +1,2861 @@
+# 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.
+
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+
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+# This tag requires that the tag HAVE_DOT is set to YES.
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+
+# You can include diagrams made with dia in doxygen documentation. Doxygen will
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+DIA_PATH =
+
+# The DIAFILE_DIRS tag can be used to specify one or more directories that
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+# command).
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+
+# 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
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+
+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
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+# the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
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+# This tag requires that the tag HAVE_DOT is set to YES.
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+# 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.
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+MAX_DOT_GRAPH_DEPTH = 0
+
+# Set the DOT_MULTI_TARGETS tag to YES to allow dot to generate multiple output
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+
+# 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.
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+# 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/DoxygenLayout.xml b/DoxyGen/DoxygenLayout.xml
new file mode 100644
index 0000000..273c519
--- /dev/null
+++ b/DoxyGen/DoxygenLayout.xml
@@ -0,0 +1,226 @@
+<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=""/>
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+ <tab type="interfaces" visible="yes" title="">
+ <tab type="interfacelist" visible="yes" title="" intro=""/>
+ <tab type="interfaceindex" visible="$ALPHABETICAL_INDEX" title=""/>
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+ <tab type="classmembers" visible="yes" title="" intro=""/>
+ </tab>
+ <tab type="structs" visible="yes" title="">
+ <tab type="structlist" visible="yes" title="" intro=""/>
+ <tab type="structindex" visible="$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"/>
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+ <nestedclasses visible="yes" title=""/>
+ <publictypes title=""/>
+ <services title=""/>
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+ <friends title=""/>
+ <related title="" subtitle=""/>
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+ <typedefs title=""/>
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+
+ <!-- Layout definition for a namespace page -->
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+ <briefdescription visible="yes"/>
+ <memberdecl>
+ <nestednamespaces visible="yes" title=""/>
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+ <classes visible="yes" title=""/>
+ <structs visible="yes" title=""/>
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+ <typedefs title=""/>
+ <sequences title=""/>
+ <dictionaries title=""/>
+ <enums title=""/>
+ <functions title=""/>
+ <variables title=""/>
+ <membergroups visible="yes"/>
+ </memberdecl>
+ <detaileddescription title=""/>
+ <memberdef>
+ <inlineclasses title=""/>
+ <typedefs title=""/>
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+
+ <!-- Layout definition for a file page -->
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+ <sourcelink visible="yes"/>
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+ <dictionaries title=""/>
+ <enums title=""/>
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+ <variables title=""/>
+ <membergroups visible="yes"/>
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+ <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=""/>
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+ <events title=""/>
+ <properties title=""/>
+ <friends title=""/>
+ <membergroups visible="yes"/>
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+ <detaileddescription title=""/>
+ <memberdef>
+ <pagedocs/>
+ <inlineclasses title=""/>
+ <defines title=""/>
+ <typedefs title=""/>
+ <sequences title=""/>
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+ <enums title=""/>
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+
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+ <briefdescription visible="yes"/>
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+</doxygenlayout>
diff --git a/DoxyGen/custom_doxygen.css b/DoxyGen/custom_doxygen.css
new file mode 100644
index 0000000..1ff3d3c
--- /dev/null
+++ b/DoxyGen/custom_doxygen.css
@@ -0,0 +1,12 @@
+/* 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/Examples/BB2B/BB2B.csproj b/Examples/BB2B/BB2B.csproj
new file mode 100644
index 0000000..3499cad
--- /dev/null
+++ b/Examples/BB2B/BB2B.csproj
@@ -0,0 +1,11 @@
+<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
new file mode 100644
index 0000000..d4a57f2
--- /dev/null
+++ b/Examples/BB2B/Program.cs
@@ -0,0 +1,31 @@
+using System.Threading;
+using RoboidControl;
+
+class BB2B {
+ static void Main() {
+ // The robot's propulsion is a differential drive
+ DifferentialDrive bb2b = new();
+ // It has a touch sensor at the front left of the roboid
+ TouchSensor touchLeft = new(bb2b);
+ // and other one on the right
+ TouchSensor touchRight = new(bb2b);
+
+ // Do forever:
+ while (true) {
+ // 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/LinearAlgebra/.gitignore b/LinearAlgebra/.gitignore
new file mode 100644
index 0000000..f0b2f47
--- /dev/null
+++ b/LinearAlgebra/.gitignore
@@ -0,0 +1,6 @@
+DoxyGen/DoxyWarnLogfile.txt
+.vscode/settings.json
+**bin
+**obj
+**.meta
+*.sln
diff --git a/LinearAlgebra/src/Angle.cs b/LinearAlgebra/src/Angle.cs
new file mode 100644
index 0000000..c3dd711
--- /dev/null
+++ b/LinearAlgebra/src/Angle.cs
@@ -0,0 +1,117 @@
+using System;
+
+namespace 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 Rad2Deg = 360.0f / ((float)Math.PI * 2); //0.0174532924F;
+ public const float Deg2Rad = ((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/LinearAlgebra/src/Direction.cs b/LinearAlgebra/src/Direction.cs
new file mode 100644
index 0000000..d16ac72
--- /dev/null
+++ b/LinearAlgebra/src/Direction.cs
@@ -0,0 +1,60 @@
+using System;
+#if UNITY_5_3_OR_NEWER
+using Vector3Float = UnityEngine.Vector3;
+#endif
+
+namespace LinearAlgebra
+{
+
+ public class Direction
+ {
+ public float horizontal;
+ public float vertical;
+
+ public Direction()
+ {
+ horizontal = 0;
+ vertical = 0;
+ }
+ public Direction(float horizontal, float vertical)
+ {
+ this.horizontal = horizontal;
+ this.vertical = vertical;
+ //Normalize();
+ }
+
+ public readonly static Direction forward = new Direction(0, 0);
+ public readonly static Direction backward = new Direction(-180, 0);
+ public readonly static Direction up = new Direction(0, 90);
+ public readonly static Direction down = new Direction(0, -90);
+ 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)
+ {
+ this.horizontal += 180;
+ this.vertical = 180 - this.vertical;
+ }
+ }
+
+ public Vector3Float ToVector3()
+ {
+ float verticalRad = (Angle.pi / 2) - this.vertical * Angle.Deg2Rad;
+ float horizontalRad = this.horizontal * Angle.Deg2Rad;
+ float cosVertical = (float)Math.Cos(verticalRad);
+ float sinVertical = (float)Math.Sin(verticalRad);
+ float cosHorizontal = (float)Math.Cos(horizontalRad);
+ float sinHorizontal = (float)Math.Sin(horizontalRad);
+
+ float x = sinVertical * sinHorizontal;
+ float y = cosVertical;
+ float z = sinVertical * cosHorizontal;
+
+ Vector3Float v = new(x, y, z);
+ return v;
+ }
+ }
+
+}
\ No newline at end of file
diff --git a/LinearAlgebra/src/Float.cs b/LinearAlgebra/src/Float.cs
new file mode 100644
index 0000000..70873f0
--- /dev/null
+++ b/LinearAlgebra/src/Float.cs
@@ -0,0 +1,45 @@
+namespace 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/LinearAlgebra/src/LinearAlgebra.csproj b/LinearAlgebra/src/LinearAlgebra.csproj
new file mode 100644
index 0000000..14d3947
--- /dev/null
+++ b/LinearAlgebra/src/LinearAlgebra.csproj
@@ -0,0 +1,14 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+ <PropertyGroup>
+ <GenerateAssemblyInfo>false</GenerateAssemblyInfo>
+ <GenerateTargetFrameworkAttribute>false</GenerateTargetFrameworkAttribute>
+ <TargetFramework>net5.0</TargetFramework>
+ </PropertyGroup>
+
+ <ItemGroup>
+ <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.13.0" />
+ <PackageReference Include="NUnit" Version="3.13.2" />
+ </ItemGroup>
+
+</Project>
diff --git a/LinearAlgebra/src/Matrix.cs b/LinearAlgebra/src/Matrix.cs
new file mode 100644
index 0000000..1f0542e
--- /dev/null
+++ b/LinearAlgebra/src/Matrix.cs
@@ -0,0 +1,645 @@
+using System;
+#if UNITY_5_3_OR_NEWER
+using Vector3Float = UnityEngine.Vector3;
+using Vector2Float = UnityEngine.Vector2;
+using Quaternion = UnityEngine.Quaternion;
+#endif
+
+namespace LinearAlgebra
+{
+
+ public readonly struct Slice
+ {
+ public uint start { get; }
+ public uint stop { get; }
+ public Slice(uint start, uint stop)
+ {
+ this.start = start;
+ this.stop = stop;
+ }
+ }
+
+ 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];
+ }
+ return new Matrix2(data);
+ }
+
+ 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);
+ }
+
+#if UNITY_5_3_OR_NEWER
+ public Vector3Float GetRow3(int rowIx) {
+ uint cols = this.nCols;
+ Vector3Float row = new() {
+ x = this.data[rowIx, 0],
+ y = this.data[rowIx, 1],
+ z = this.data[rowIx, 2]
+ };
+ 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];
+ }
+ 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];
+ }
+ }
+ 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
+ }
+ }
+
+ // 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];
+ }
+ }
+
+ // 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];
+ }
+ }
+
+ // 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);
+ }
+
+ 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];
+ }
+
+ 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);
+ }
+
+#if UNITY_5_3_OR_NEWER
+ public static Matrix1 FromQuaternion(Quaternion q) {
+ float[] result = new float[4];
+ result[0] = q.x;
+ result[1] = q.y;
+ result[2] = q.z;
+ result[3] = q.w;
+ return new Matrix1(result);
+ }
+#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 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 {
+ get {
+ if (this.size != 4)
+ throw new System.ArgumentException("Matrix1 must be of size 4");
+ return new Quaternion(this.data[0], this.data[1], this.data[2], this.data[3]);
+ }
+ }
+#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 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];
+ }
+ }
+
+}
\ No newline at end of file
diff --git a/LinearAlgebra/src/Quat32.cs b/LinearAlgebra/src/Quat32.cs
new file mode 100644
index 0000000..3026f8e
--- /dev/null
+++ b/LinearAlgebra/src/Quat32.cs
@@ -0,0 +1,98 @@
+using System;
+
+namespace LinearAlgebra
+{
+ public class Quat32
+ {
+ public float x;
+ public float y;
+ public float z;
+ public float w;
+
+ public Quat32()
+ {
+ this.x = 0;
+ this.y = 0;
+ this.z = 0;
+ this.w = 1;
+ }
+
+ public Quat32(float x, float y, float z, float w)
+ {
+ this.x = x;
+ this.y = y;
+ this.z = z;
+ this.w = w;
+ }
+
+ public static Quat32 FromSwingTwist(SwingTwist s)
+ {
+ Quat32 q32 = Quat32.Euler(-s.swing.vertical, s.swing.horizontal, s.twist);
+ return q32;
+ }
+
+ public static Quat32 Euler(float yaw, float pitch, float roll)
+ {
+ float rollOver2 = roll * Angle.Deg2Rad * 0.5f;
+ float sinRollOver2 = (float)Math.Sin((float)rollOver2);
+ float cosRollOver2 = (float)Math.Cos((float)rollOver2);
+ float pitchOver2 = pitch * 0.5f;
+ float sinPitchOver2 = (float)Math.Sin((float)pitchOver2);
+ float cosPitchOver2 = (float)Math.Cos((float)pitchOver2);
+ float yawOver2 = yaw * 0.5f;
+ float sinYawOver2 = (float)Math.Sin((float)yawOver2);
+ float cosYawOver2 = (float)Math.Cos((float)yawOver2);
+ Quat32 result = new Quat32()
+ {
+ w = cosYawOver2 * cosPitchOver2 * cosRollOver2 +
+ sinYawOver2 * sinPitchOver2 * sinRollOver2,
+ x = sinYawOver2 * cosPitchOver2 * cosRollOver2 +
+ cosYawOver2 * sinPitchOver2 * sinRollOver2,
+ y = cosYawOver2 * sinPitchOver2 * cosRollOver2 -
+ sinYawOver2 * cosPitchOver2 * sinRollOver2,
+ z = cosYawOver2 * cosPitchOver2 * sinRollOver2 -
+ sinYawOver2 * sinPitchOver2 * cosRollOver2
+ };
+ return result;
+ }
+
+ public void ToAngles(out float right, out float up, out float forward)
+ {
+ float test = this.x * this.y + this.z * this.w;
+ if (test > 0.499f)
+ { // singularity at north pole
+ right = 0;
+ up = 2 * (float)Math.Atan2(this.x, this.w) * Angle.Rad2Deg;
+ forward = 90;
+ return;
+ //return Vector3(0, 2 * (float)atan2(this.x, this.w) * Angle.Rad2Deg, 90);
+ }
+ else if (test < -0.499f)
+ { // singularity at south pole
+ right = 0;
+ up = -2 * (float)Math.Atan2(this.x, this.w) * Angle.Rad2Deg;
+ forward = -90;
+ return;
+ //return Vector3(0, -2 * (float)atan2(this.x, this.w) * Angle.Rad2Deg, -90);
+ }
+ else
+ {
+ float sqx = this.x * this.x;
+ float sqy = this.y * this.y;
+ float sqz = this.z * this.z;
+
+ right = (float)Math.Atan2(2 * this.x * this.w - 2 * this.y * this.z, 1 - 2 * sqx - 2 * sqz) * Angle.Rad2Deg;
+ up = (float)Math.Atan2(2 * this.y * this.w - 2 * this.x * this.z, 1 - 2 * sqy - 2 * sqz) * Angle.Rad2Deg;
+ forward = (float)Math.Asin(2 * test) * Angle.Rad2Deg;
+ return;
+ // return Vector3(
+ // atan2f(2 * this.x * this.w - 2 * this.y * this.z, 1 - 2 * sqx - 2 * sqz) *
+ // Rad2Deg,
+ // atan2f(2 * this.y * this.w - 2 * this.x * this.z, 1 - 2 * sqy - 2 * sqz) *
+ // Rad2Deg,
+ // asinf(2 * test) * Angle.Rad2Deg);
+ }
+ }
+
+ }
+}
\ No newline at end of file
diff --git a/LinearAlgebra/src/Quaternion.cs b/LinearAlgebra/src/Quaternion.cs
new file mode 100644
index 0000000..f481ef4
--- /dev/null
+++ b/LinearAlgebra/src/Quaternion.cs
@@ -0,0 +1,80 @@
+using System;
+#if UNITY_5_3_OR_NEWER
+using Quaternion = UnityEngine.Quaternion;
+#endif
+
+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)
+ {
+ this.x = x;
+ this.y = y;
+ this.z = z;
+ this.w = w;
+ }
+
+#if UNITY_5_3_OR_NEWER
+ public static Matrix2 ToRotationMatrix(Quaternion q) {
+ float w = q.x, x = q.y, y = q.z, z = q.w;
+
+ float[,] result = new float[,]
+ {
+ { 1 - 2 * (y * y + z * z), 2 * (x * y - w * z), 2 * (x * z + w * y) },
+ { 2 * (x * y + w * z), 1 - 2 * (x * x + z * z), 2 * (y * z - w * x) },
+ { 2 * (x * z - w * y), 2 * (y * z + w * x), 1 - 2 * (x * x + y * y) }
+ };
+ return new Matrix2(result);
+ }
+
+ public static Quaternion FromRotationMatrix(Matrix2 m) {
+ float trace = m.data[0, 0] + m.data[1, 1] + m.data[2, 2];
+ float w, x, y, z;
+
+ if (trace > 0) {
+ float s = 0.5f / (float)Math.Sqrt(trace + 1.0f);
+ w = 0.25f / s;
+ x = (m.data[2, 1] - m.data[1, 2]) * s;
+ y = (m.data[0, 2] - m.data[2, 0]) * s;
+ z = (m.data[1, 0] - m.data[0, 1]) * s;
+ }
+ else {
+ if (m.data[0, 0] > m.data[1, 1] && m.data[0, 0] > m.data[2, 2]) {
+ float s = 2.0f * (float)Math.Sqrt(1.0f + m.data[0, 0] - m.data[1, 1] - m.data[2, 2]);
+ w = (m.data[2, 1] - m.data[1, 2]) / s;
+ x = 0.25f * s;
+ y = (m.data[0, 1] + m.data[1, 0]) / s;
+ z = (m.data[0, 2] + m.data[2, 0]) / s;
+ }
+ else if (m.data[1, 1] > m.data[2, 2]) {
+ float s = 2.0f * (float)Math.Sqrt(1.0f + m.data[1, 1] - m.data[0, 0] - m.data[2, 2]);
+ w = (m.data[0, 2] - m.data[2, 0]) / s;
+ x = (m.data[0, 1] + m.data[1, 0]) / s;
+ y = 0.25f * s;
+ z = (m.data[1, 2] + m.data[2, 1]) / s;
+ }
+ else {
+ float s = 2.0f * (float)Math.Sqrt(1.0f + m.data[2, 2] - m.data[0, 0] - m.data[1, 1]);
+ w = (m.data[1, 0] - m.data[0, 1]) / s;
+ x = (m.data[0, 2] + m.data[2, 0]) / s;
+ y = (m.data[1, 2] + m.data[2, 1]) / s;
+ z = 0.25f * s;
+ }
+ }
+
+ return new Quaternion(x, y, z, w);
+ }
+#endif
+ }
+
+ // public class Quaternion : QuaternionOf<float> {
+ // public Quaternion(float x, float y, float z, float w) : base(x, y, z, w) { }
+ // }
+}
\ No newline at end of file
diff --git a/LinearAlgebra/src/Spherical.cs b/LinearAlgebra/src/Spherical.cs
new file mode 100644
index 0000000..497a508
--- /dev/null
+++ b/LinearAlgebra/src/Spherical.cs
@@ -0,0 +1,57 @@
+using System;
+#if UNITY_5_3_OR_NEWER
+using Vector3Float = UnityEngine.Vector3;
+#endif
+
+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)
+ {
+ this.distance = distance;
+ this.direction = new Direction(horizontal, vertical);
+ }
+ public Spherical(float distance, Direction direction)
+ {
+ this.distance = distance;
+ this.direction = direction;
+ }
+
+ public static Spherical FromVector3(Vector3Float v)
+ {
+ float distance = v.magnitude;
+ if (distance == 0.0f)
+ return new Spherical(distance, 0, 0);
+ 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;
+ return new Spherical(distance, horizontalAngle, verticalAngle);
+ }
+ }
+
+ 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);
+ float sinVertical = (float)Math.Sin(verticalRad);
+ float cosHorizontal = (float)Math.Cos(horizontalRad);
+ float sinHorizontal = (float)Math.Sin(horizontalRad);
+
+ float x = this.distance * sinVertical * sinHorizontal;
+ float y = this.distance * cosVertical;
+ float z = this.distance * sinVertical * cosHorizontal;
+
+ Vector3Float v = new Vector3Float(x, y, z);
+ return v;
+ }
+ }
+}
\ No newline at end of file
diff --git a/LinearAlgebra/src/SwingTwist.cs b/LinearAlgebra/src/SwingTwist.cs
new file mode 100644
index 0000000..acf8978
--- /dev/null
+++ b/LinearAlgebra/src/SwingTwist.cs
@@ -0,0 +1,46 @@
+using System.Numerics;
+#if UNITY_5_3_OR_NEWER
+using Quaternion = UnityEngine.Quaternion;
+#endif
+
+namespace LinearAlgebra
+{
+
+ public class SwingTwist
+ {
+ public Direction swing;
+ public float twist;
+
+ public static readonly SwingTwist zero = new SwingTwist(0, 0, 0);
+
+ public SwingTwist(Direction swing, float twist)
+ {
+ this.swing = swing;
+ this.twist = twist;
+ }
+ public SwingTwist(float horizontalSwing, float verticalSwing, float twist)
+ {
+ this.swing = new Direction(horizontalSwing, verticalSwing);
+ this.swing.Normalize();
+ this.twist = twist;
+ }
+ public static SwingTwist FromQuat32(Quat32 q32)
+ {
+ // UnityEngine.Quaternion q = new(q32.x, q32.y, q32.z, q32.w);
+ // SwingTwist r = new(q.eulerAngles.y, q.eulerAngles.x, q.eulerAngles.z);
+ q32.ToAngles(out float right, out float up, out float forward);
+ SwingTwist r = new SwingTwist(up, right, forward);
+ return r;
+ }
+
+#if UNITY_5_3_OR_NEWER
+ public Quaternion ToQuaternion() {
+ Quaternion q = Quaternion.Euler(-this.swing.vertical,
+ this.swing.horizontal,
+ this.twist);
+ return q;
+ }
+#endif
+ }
+
+}
\ No newline at end of file
diff --git a/LinearAlgebra/src/Vector2.cs b/LinearAlgebra/src/Vector2.cs
new file mode 100644
index 0000000..603b0de
--- /dev/null
+++ b/LinearAlgebra/src/Vector2.cs
@@ -0,0 +1,401 @@
+using System;
+using System.Numerics;
+
+namespace 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/LinearAlgebra/src/Vector3.cs b/LinearAlgebra/src/Vector3.cs
new file mode 100644
index 0000000..616b82e
--- /dev/null
+++ b/LinearAlgebra/src/Vector3.cs
@@ -0,0 +1,204 @@
+#if !UNITY_5_3_OR_NEWER
+using System;
+
+namespace 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/LinearAlgebra/src/float16.cs b/LinearAlgebra/src/float16.cs
new file mode 100644
index 0000000..5d94014
--- /dev/null
+++ b/LinearAlgebra/src/float16.cs
@@ -0,0 +1,344 @@
+using System;
+
+namespace LinearAlgebra
+{
+
+ public class float16
+ {
+ //
+ // FILE: float16.cpp
+ // AUTHOR: Rob Tillaart
+ // VERSION: 0.1.8
+ // PURPOSE: library for Float16s for Arduino
+ // URL: http://en.wikipedia.org/wiki/Half-precision_floating-point_format
+
+ ushort _value;
+
+ public float16() { _value = 0; }
+
+ public float16(float f)
+ {
+ //_value = f32tof16(f);
+ _value = F32ToF16__(f);
+ }
+
+ public float toFloat()
+ {
+ return f16tof32(_value);
+ }
+
+ public ushort GetBinary() { return _value; }
+ public void SetBinary(ushort value) { _value = value; }
+
+ //////////////////////////////////////////////////////////
+ //
+ // EQUALITIES
+ //
+ /*
+ bool float16::operator ==(const float16 &f) { return (_value == f._value); }
+
+ bool float16::operator !=(const float16 &f) { return (_value != f._value); }
+
+ bool float16::operator >(const float16 &f) {
+ if ((_value & 0x8000) && (f._value & 0x8000))
+ return _value < f._value;
+ if (_value & 0x8000)
+ return false;
+ if (f._value & 0x8000)
+ return true;
+ return _value > f._value;
+ }
+
+ bool float16::operator >=(const float16 &f) {
+ if ((_value & 0x8000) && (f._value & 0x8000))
+ return _value <= f._value;
+ if (_value & 0x8000)
+ return false;
+ if (f._value & 0x8000)
+ return true;
+ return _value >= f._value;
+ }
+
+ bool float16::operator <(const float16 &f) {
+ if ((_value & 0x8000) && (f._value & 0x8000))
+ return _value > f._value;
+ if (_value & 0x8000)
+ return true;
+ if (f._value & 0x8000)
+ return false;
+ return _value < f._value;
+ }
+
+ bool float16::operator <=(const float16 &f) {
+ if ((_value & 0x8000) && (f._value & 0x8000))
+ return _value >= f._value;
+ if (_value & 0x8000)
+ return true;
+ if (f._value & 0x8000)
+ return false;
+ return _value <= f._value;
+ }
+
+ //////////////////////////////////////////////////////////
+ //
+ // NEGATION
+ //
+ float16 float16::operator -() {
+ float16 f16;
+ f16.setBinary(_value ^ 0x8000);
+ return f16;
+ }
+
+ //////////////////////////////////////////////////////////
+ //
+ // MATH
+ //
+ float16 float16::operator +(const float16 &f) {
+ return float16(this->toDouble() + f.toDouble());
+ }
+
+ float16 float16::operator -(const float16 &f) {
+ return float16(this->toDouble() - f.toDouble());
+ }
+
+ float16 float16::operator *(const float16 &f) {
+ return float16(this->toDouble() * f.toDouble());
+ }
+
+ float16 float16::operator /(const float16 &f) {
+ return float16(this->toDouble() / f.toDouble());
+ }
+
+ float16 & float16::operator+=(const float16 &f) {
+ *this = this->toDouble() + f.toDouble();
+ return *this;
+ }
+
+ float16 & float16::operator-=(const float16 &f) {
+ *this = this->toDouble() - f.toDouble();
+ return *this;
+ }
+
+ float16 & float16::operator*=(const float16 &f) {
+ *this = this->toDouble() * f.toDouble();
+ return *this;
+ }
+
+ float16 & float16::operator/=(const float16 &f) {
+ *this = this->toDouble() / f.toDouble();
+ return *this;
+ }
+
+ //////////////////////////////////////////////////////////
+ //
+ // MATH HELPER FUNCTIONS
+ //
+ int float16::sign() {
+ if (_value & 0x8000)
+ return -1;
+ if (_value & 0xFFFF)
+ return 1;
+ return 0;
+ }
+
+ bool float16::isZero() { return ((_value & 0x7FFF) == 0x0000); }
+
+ bool float16::isNaN() {
+ if ((_value & 0x7C00) != 0x7C00)
+ return false;
+ if ((_value & 0x03FF) == 0x0000)
+ return false;
+ return true;
+ }
+
+ bool float16::isInf() { return ((_value == 0x7C00) || (_value == 0xFC00)); }
+ */
+ //////////////////////////////////////////////////////////
+ //
+ // CORE CONVERSION
+ //
+ float f16tof32(ushort _value)
+ {
+ //ushort sgn;
+ ushort man;
+ int exp;
+ float f;
+
+ //Debug.Log($"{_value}");
+
+ bool sgn = (_value & 0x8000) > 0;
+ exp = (_value & 0x7C00) >> 10;
+ man = (ushort)(_value & 0x03FF);
+
+ //Debug.Log($"{sgn} {exp} {man}");
+
+ // ZERO
+ if ((_value & 0x7FFF) == 0)
+ {
+ return sgn ? -0 : 0;
+ }
+ // NAN & INF
+ if (exp == 0x001F)
+ {
+ if (man == 0)
+ return sgn ? float.NegativeInfinity : float.PositiveInfinity; //-INFINITY : INFINITY;
+ else
+ return float.NaN; // NAN;
+ }
+
+ // SUBNORMAL/NORMAL
+ if (exp == 0)
+ f = 0;
+ else
+ f = 1;
+
+ // PROCESS MANTISSE
+ for (int i = 9; i >= 0; i--)
+ {
+ f *= 2;
+ if ((man & (1 << i)) != 0)
+ f = f + 1;
+ }
+ //Debug.Log($"{f}");
+ f = f * (float)Math.Pow(2.0f, exp - 25);
+ if (exp == 0)
+ {
+ f = f * (float)Math.Pow(2.0f, -13); // 5.96046447754e-8;
+ }
+ //Debug.Log($"{f}");
+ return sgn ? -f : f;
+ }
+
+ 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)
+ {
+ 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)
+ {
+ return sgn ? (ushort)0x8000 : (ushort)0x0000;
+ }
+ // denormalized float32 does not fit in float16
+ if (exp == 0x00)
+ {
+ return sgn ? (ushort)0x8000 : (ushort)0x0000;
+ }
+ // handle infinity & NAN
+ if (exp == 0x00FF)
+ {
+ if (man != 0)
+ return 0xFE00; // NAN
+ return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF
+ }
+
+ // normal numbers
+ exp = exp - 127 + 15;
+ // overflow does not fit => INF
+ if (exp > 30)
+ {
+ return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF
+ }
+ // subnormal numbers
+ if (exp < -38)
+ {
+ return sgn ? (ushort)0x8000 : (ushort)0x0000; // -0 or 0 ? just 0 ?
+ }
+ if (exp <= 0) // subnormal
+ {
+ man >>= (exp + 14);
+ // rounding
+ man++;
+ man >>= 1;
+ if (sgn)
+ return (ushort)(0x8000 | man);
+ return man;
+ }
+
+ // normal
+ // TODO rounding
+ exp <<= 10;
+ man++;
+ man >>= 1;
+ if (sgn)
+ return (ushort)(0x8000 | exp | man);
+ return (ushort)(exp | man);
+ }
+
+ //This function is faulty!!!!
+ ushort f32tof16(float f)
+ {
+ //uint t = *(uint*)&f;
+ //uint t = (uint)BitConverter.SingleToInt32Bits(f);
+ uint t = SingleToInt32Bits(f);
+ // man bits = 10; but we keep 11 for rounding
+ ushort man = (ushort)((t & 0x007FFFFF) >> 12);
+ short exp = (short)((t & 0x7F800000) >> 23);
+ bool sgn = (t & 0x80000000) != 0;
+
+ // handle 0
+ if ((t & 0x7FFFFFFF) == 0)
+ {
+ return sgn ? (ushort)0x8000 : (ushort)0x0000;
+ }
+ // denormalized float32 does not fit in float16
+ if (exp == 0x00)
+ {
+ return sgn ? (ushort)0x8000 : (ushort)0x0000;
+ }
+ // handle infinity & NAN
+ if (exp == 0x00FF)
+ {
+ if (man != 0)
+ return 0xFE00; // NAN
+ return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF
+ }
+
+ // normal numbers
+ exp = (short)(exp - 127 + 15);
+ // overflow does not fit => INF
+ if (exp > 30)
+ {
+ return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF
+ }
+ // subnormal numbers
+ if (exp < -38)
+ {
+ return sgn ? (ushort)0x8000 : (ushort)0x0000; // -0 or 0 ? just 0 ?
+ }
+ if (exp <= 0) // subnormal
+ {
+ man >>= (exp + 14);
+ // rounding
+ man++;
+ man >>= 1;
+ if (sgn)
+ return (ushort)(0x8000 | man);
+ return man;
+ }
+
+ // normal
+ // TODO rounding
+ exp <<= 10;
+ man++;
+ man >>= 1;
+ ushort uexp = (ushort)exp;
+ if (sgn)
+ return (ushort)(0x8000 | uexp | man);
+ return (ushort)(uexp | man);
+ }
+
+ // -- END OF FILE --
+ }
+
+}
\ No newline at end of file
diff --git a/LinearAlgebra/test/AngleTest.cs b/LinearAlgebra/test/AngleTest.cs
new file mode 100644
index 0000000..34b107a
--- /dev/null
+++ b/LinearAlgebra/test/AngleTest.cs
@@ -0,0 +1,171 @@
+#if !UNITY_5_6_OR_NEWER
+using NUnit.Framework;
+
+namespace LinearAlgebra.Test
+{
+ public class Tests
+ {
+ [SetUp]
+ public void Setup()
+ {
+ }
+
+ [Test]
+ public void Test_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/LinearAlgebra/test/LinearAlgebra_Test.csproj b/LinearAlgebra/test/LinearAlgebra_Test.csproj
new file mode 100644
index 0000000..3ee2230
--- /dev/null
+++ b/LinearAlgebra/test/LinearAlgebra_Test.csproj
@@ -0,0 +1,19 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+ <PropertyGroup>
+ <TargetFramework>net5.0</TargetFramework>
+ <IsPackable>false</IsPackable>
+ <IsTestProject>true</IsTestProject>
+ </PropertyGroup>
+
+ <ItemGroup>
+ <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.13.0" />
+ <PackageReference Include="NUnit" Version="3.13.2" />
+ <PackageReference Include="NUnit3TestAdapter" Version="3.17.0" />
+ </ItemGroup>
+
+ <ItemGroup>
+ <ProjectReference Include="..\src\LinearAlgebra.csproj" />
+ </ItemGroup>
+
+</Project>
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..a094cee
--- /dev/null
+++ b/README.md
@@ -0,0 +1,10 @@
+\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-csharp.code-workspace b/RoboidControl-csharp.code-workspace
new file mode 100644
index 0000000..876a149
--- /dev/null
+++ b/RoboidControl-csharp.code-workspace
@@ -0,0 +1,8 @@
+{
+ "folders": [
+ {
+ "path": "."
+ }
+ ],
+ "settings": {}
+}
\ No newline at end of file
diff --git a/RoboidControl.sln b/RoboidControl.sln
new file mode 100644
index 0000000..94abce5
--- /dev/null
+++ b/RoboidControl.sln
@@ -0,0 +1,55 @@
+
+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}") = "RoboidControl_Test", "test\RoboidControl_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
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "LinearAlgebra", "LinearAlgebra", "{3B5ED006-C6FC-4776-A6DC-FEE4E6909C03}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "LinearAlgebra", "LinearAlgebra\src\LinearAlgebra.csproj", "{CDCD9CE5-3224-4DB7-B7D6-5BB0714189B3}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "LinearAlgebra_Test", "LinearAlgebra\test\LinearAlgebra_Test.csproj", "{8F286220-E70C-4E77-BDA6-6F28B726E320}"
+EndProject
+Global
+ GlobalSection(SolutionConfigurationPlatforms) = preSolution
+ Debug|Any CPU = Debug|Any CPU
+ Release|Any CPU = Release|Any CPU
+ 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
+ {CDCD9CE5-3224-4DB7-B7D6-5BB0714189B3}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+ {CDCD9CE5-3224-4DB7-B7D6-5BB0714189B3}.Debug|Any CPU.Build.0 = Debug|Any CPU
+ {CDCD9CE5-3224-4DB7-B7D6-5BB0714189B3}.Release|Any CPU.ActiveCfg = Release|Any CPU
+ {CDCD9CE5-3224-4DB7-B7D6-5BB0714189B3}.Release|Any CPU.Build.0 = Release|Any CPU
+ {8F286220-E70C-4E77-BDA6-6F28B726E320}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+ {8F286220-E70C-4E77-BDA6-6F28B726E320}.Debug|Any CPU.Build.0 = Debug|Any CPU
+ {8F286220-E70C-4E77-BDA6-6F28B726E320}.Release|Any CPU.ActiveCfg = Release|Any CPU
+ {8F286220-E70C-4E77-BDA6-6F28B726E320}.Release|Any CPU.Build.0 = Release|Any CPU
+ EndGlobalSection
+ GlobalSection(SolutionProperties) = preSolution
+ HideSolutionNode = FALSE
+ EndGlobalSection
+ GlobalSection(NestedProjects) = preSolution
+ {488F28B2-A2CC-4E32-8D3B-7DB4EB1485F9} = {D6086F71-404B-4D18-BBE9-45947ED33DB2}
+ {CDCD9CE5-3224-4DB7-B7D6-5BB0714189B3} = {3B5ED006-C6FC-4776-A6DC-FEE4E6909C03}
+ {8F286220-E70C-4E77-BDA6-6F28B726E320} = {3B5ED006-C6FC-4776-A6DC-FEE4E6909C03}
+ EndGlobalSection
+EndGlobal
diff --git a/Unity/DebugConsole.cs b/Unity/DebugConsole.cs
new file mode 100644
index 0000000..70b587a
--- /dev/null
+++ b/Unity/DebugConsole.cs
@@ -0,0 +1,25 @@
+#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
new file mode 100644
index 0000000..e27e2f7
--- /dev/null
+++ b/Unity/DistanceSensor.cs
@@ -0,0 +1,67 @@
+#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
new file mode 100644
index 0000000..deb237b
--- /dev/null
+++ b/Unity/SiteServer.cs
@@ -0,0 +1,38 @@
+#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 for {thing}");
+ 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
new file mode 100644
index 0000000..aa4921e
--- /dev/null
+++ b/Unity/Thing.cs
@@ -0,0 +1,116 @@
+#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 && core.linearVelocity.distance != 0) {
+ Vector3 direction = Quaternion.AngleAxis(core.linearVelocity.direction.horizontal, Vector3.up) * Vector3.forward;
+ this.transform.Translate(core.linearVelocity.distance * Time.deltaTime * direction, Space.Self);
+ } else if (core.positionUpdated)
+ this.transform.localPosition = core.position.ToVector3();
+
+ if (core.angularVelocity != null && core.angularVelocity.distance != 0) {
+ Vector3 angularVelocity = core.angularVelocity.ToVector3();
+ Vector3 axis = core.angularVelocity.direction.ToVector3();
+ this.transform.localRotation *= Quaternion.AngleAxis(core.angularVelocity.distance * Time.deltaTime, axis);
+ //this.transform.localRotation *= Quaternion.Euler(angularVelocity * Time.deltaTime);
+ } else if (core.orientationUpdated)
+ 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
new file mode 100644
index 0000000..5f8d8ec
--- /dev/null
+++ b/Unity/TouchSensor.cs
@@ -0,0 +1,87 @@
+#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/LocalParticipant.cs b/src/LocalParticipant.cs
new file mode 100644
index 0000000..a057bdc
--- /dev/null
+++ b/src/LocalParticipant.cs
@@ -0,0 +1,356 @@
+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($"Participant: Process pose [{msg.networkId}/{msg.thingId}] {msg.poseType}");
+ Thing thing = sender.Get(msg.networkId, msg.thingId);
+ if (thing != null) {
+ thing.positionUpdated = false;
+ if ((msg.poseType & PoseMsg.Pose_Position) != 0) {
+ thing.position = msg.position;
+ thing.positionUpdated = true;
+ }
+ thing.orientationUpdated = false;
+ if ((msg.poseType & PoseMsg.Pose_Orientation) != 0) {
+ thing.orientation = msg.orientation;
+ thing.orientationUpdated = true;
+ }
+ else
+ thing.orientation = null;
+ if ((msg.poseType & PoseMsg.Pose_LinearVelocity) != 0)
+ thing.linearVelocity = msg.linearVelocity;
+ if ((msg.poseType & PoseMsg.Pose_AngularVelocity) != 0)
+ thing.angularVelocity = msg.angularVelocity;
+
+ }
+ }
+
+ protected virtual void Process(Participant sender, BinaryMsg msg) {
+ // Console.WriteLine($"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($"---> {client.ipAddress}");
+ // //IMessage.SendMsg(client, msg);
+ // msg.Serialize(ref client.buffer);
+ // client.SendBuffer(client.buffer.Length);
+ // }
+ }
+
+ #endregion
+ }
+}
\ No newline at end of file
diff --git a/src/Messages/BinaryMsg.cs b/src/Messages/BinaryMsg.cs
new file mode 100644
index 0000000..6953188
--- /dev/null
+++ b/src/Messages/BinaryMsg.cs
@@ -0,0 +1,83 @@
+namespace RoboidControl {
+
+ /// <summary>
+ /// A message containing binary data for custom communication
+ /// </summary>
+ public class BinaryMsg : IMessage {
+ /// <summary>
+ /// The message ID
+ /// </summary>
+ public const byte Id = 0xB1;
+ /// <summary>
+ /// The length of the message, excluding the binary data
+ /// </summary>
+ /// For the total size of the message this.bytes.Length should be added to this value.
+ public const byte length = 2;
+ /// <summary>
+ /// The network ID identifying the thing
+ /// </summary>
+ public byte networkId;
+ /// <summary>
+ /// The ID of the thing
+ /// </summary>
+ public byte thingId;
+
+ public Thing thing;
+
+ /// <summary>
+ /// The binary data
+ /// </summary>
+ public byte[] bytes;
+
+ /// <summary>
+ /// Create a new message for sending
+ /// </summary>
+ /// <param name="networkId">The netowork ID of the thing</param>
+ /// <param name="thingId">The ID of the thing</param>
+ /// <param name="bytes">The binary data for the thing</param>
+ public BinaryMsg(byte networkId, byte thingId, byte[] bytes) : base() {
+ this.networkId = networkId;
+ this.thingId = thingId;
+ this.bytes = bytes;
+ }
+ /// <summary>
+ /// Create an empty message for sending
+ /// </summary>
+ /// <param name="networkId">The netowork ID of the thing</param>
+ /// <param name="thingId">The ID of the thing</param>
+ public BinaryMsg(byte networkId, Thing thing) : base() {
+ this.networkId = networkId;
+ this.thingId = thing.id;
+ this.thing = thing;
+ this.bytes = this.thing.GenerateBinary();
+ // if (this.bytes.Length > 0)
+ // System.Console.Write($"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
new file mode 100644
index 0000000..1963bc3
--- /dev/null
+++ b/src/Messages/DestroyMsg.cs
@@ -0,0 +1,51 @@
+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
new file mode 100644
index 0000000..08d54d9
--- /dev/null
+++ b/src/Messages/InvestigateMsg.cs
@@ -0,0 +1,46 @@
+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
new file mode 100644
index 0000000..39da789
--- /dev/null
+++ b/src/Messages/LowLevelMessages.cs
@@ -0,0 +1,98 @@
+using 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
new file mode 100644
index 0000000..2fa0045
--- /dev/null
+++ b/src/Messages/Messages.cs
@@ -0,0 +1,25 @@
+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
new file mode 100644
index 0000000..be15087
--- /dev/null
+++ b/src/Messages/ModelUrlMsg.cs
@@ -0,0 +1,77 @@
+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
new file mode 100644
index 0000000..632540f
--- /dev/null
+++ b/src/Messages/NameMsg.cs
@@ -0,0 +1,82 @@
+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
new file mode 100644
index 0000000..8d81e27
--- /dev/null
+++ b/src/Messages/NetworkIdMsg.cs
@@ -0,0 +1,43 @@
+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
new file mode 100644
index 0000000..6af8fdb
--- /dev/null
+++ b/src/Messages/ParticipantMsg.cs
@@ -0,0 +1,53 @@
+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
new file mode 100644
index 0000000..f29588f
--- /dev/null
+++ b/src/Messages/PoseMsg.cs
@@ -0,0 +1,133 @@
+using 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
new file mode 100644
index 0000000..a1de990
--- /dev/null
+++ b/src/Messages/TextMsg.cs
@@ -0,0 +1,45 @@
+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
new file mode 100644
index 0000000..9725e23
--- /dev/null
+++ b/src/Messages/ThingMsg.cs
@@ -0,0 +1,90 @@
+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
new file mode 100644
index 0000000..b3d7d44
--- /dev/null
+++ b/src/Participant.cs
@@ -0,0 +1,100 @@
+using System;
+using System.Collections.Generic;
+
+namespace RoboidControl {
+
+ /// <summary>
+ /// A participant is a device which manages things.
+ /// </summary>
+ /// It can communicate with other participant to synchronise the state of things.
+ /// This class is used to register the things the participant is managing.
+ /// It also maintains the communcation information to contact the participant.
+ /// It is used as a basis for the local participant, but also as a reference to remote participants.
+ public class Participant {
+ /// <summary>
+ /// Default constructor
+ /// </summary>
+ public Participant() { }
+ /// <summary>
+ /// Create a new participant with the given communcation info
+ /// </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 Ip Address of a participant. When the participant is local, this contains 0.0.0.0
+ /// </summary>
+ public string ipAddress = "0.0.0.0";
+ /// <summary>
+ /// The port number for UDP communication with the participant. This is 0 for isolated participants.
+ /// </summary>
+ public int port = 0;
+
+ /// <summary>
+ /// The network ID of the participant
+ /// </summary>
+ public byte networkId;
+
+ /// <summary>
+ /// The things managed 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($"Could not find thing {ipAddress}:{port}[{networkId}/{thingId}]");
+ return thing;
+ }
+
+ /// <summary>
+ /// Add a new thing for this participant
+ /// </summary>
+ /// <param name="thing">The thing to add</param>
+ /// <param name="invokeEvent">Invoke an notification event when the thing has been added</param>
+ public void Add(Thing thing, bool checkId = true, bool invokeEvent = true) {
+ if (checkId && thing.id == 0) {
+ thing.id = (byte)(this.things.Count + 1);
+ things.Add(thing);
+ }
+ // Console.WriteLine($"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}]");
+ // }
+ // }
+ }
+
+ /// <summary>
+ /// Remove a thing for this participant
+ /// </summary>
+ /// <param name="thing">The thing to remove</param>
+ public void Remove(Thing thing) {
+ this.things.Remove(thing);
+ }
+
+ }
+
+}
\ No newline at end of file
diff --git a/src/RoboidControl.csproj b/src/RoboidControl.csproj
new file mode 100644
index 0000000..a45ac67
--- /dev/null
+++ b/src/RoboidControl.csproj
@@ -0,0 +1,14 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+ <PropertyGroup>
+ <GenerateAssemblyInfo>false</GenerateAssemblyInfo>
+ <GenerateTargetFrameworkAttribute>false</GenerateTargetFrameworkAttribute>
+ <TargetFramework>net5.0</TargetFramework>
+ </PropertyGroup>
+
+ <ItemGroup>
+ <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.13.0" />
+ <PackageReference Include="NUnit" Version="3.13.2" />
+ <ProjectReference Include="..\LinearAlgebra\src\LinearAlgebra.csproj" />
+ </ItemGroup>
+</Project>
diff --git a/src/SiteServer.cs b/src/SiteServer.cs
new file mode 100644
index 0000000..4d70718
--- /dev/null
+++ b/src/SiteServer.cs
@@ -0,0 +1,81 @@
+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, false, true);
+ }
+ }
+
+ }
+}
\ No newline at end of file
diff --git a/src/Thing.cs b/src/Thing.cs
new file mode 100644
index 0000000..2fa8862
--- /dev/null
+++ b/src/Thing.cs
@@ -0,0 +1,434 @@
+using System;
+using System.Collections.Generic;
+using 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
+ };
+
+ public delegate void ChangeHandler();
+ public delegate void SphericalHandler(Spherical v);
+ public delegate void ThingHandler(Thing t);
+
+ #endregion Types
+
+ #region Init
+
+ /// <summary>
+ /// Create a new thing for a participant
+ /// </summary>
+ /// <param name="owner">The participant owning the thing</param>
+ /// <param name="thingType">The type of thing</param>
+ public Thing(Participant owner, byte thingType = (byte)Type.Undetermined, bool invokeEvent = true) {
+ this.owner = owner;
+ this.type = thingType;
+ this.owner.Add(this);
+ if (invokeEvent)
+ InvokeNewThing(this);
+ }
+ /// <summary>
+ /// Create a new thing for a participant
+ /// </summary>
+ /// <param name="owner">The participant owning the thing</param>
+ /// <param name="thingType">The type of thing</param>
+ public Thing(Participant owner, Type thingType = Type.Undetermined, bool invokeEvent = true) : this(owner, (byte)thingType, invokeEvent) {
+ }
+ /// <summary>
+ /// Create a new thing without communication abilities
+ /// </summary>
+ /// <param name="thingType">The type of thing</param>
+ public Thing(byte thingType = (byte)Type.Undetermined, bool invokeEvent = true) : this(LocalParticipant.Isolated(), thingType, invokeEvent) {
+ }
+
+ /// <summary>
+ /// Create a new thing as a child of another thing
+ /// </summary>
+ /// <param name="parent">The parent thing</param>
+ /// <param name="thingType">The type of thing</param>
+ public Thing(Thing parent, byte thingType = (byte)Type.Undetermined, bool invokeEvent = true) : this(parent.owner, thingType, invokeEvent) {
+ 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;
+ if (invokeEvent)
+ InvokeNewThing(this);
+ }
+ */
+
+ /// <summary>
+ /// Create a new thing for the given participant
+ /// </summary>
+ /// <param name="participant">The participant owning the thing</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
+
+ /// <summary>
+ /// The participant owning this thing
+ /// </summary>
+ public Participant owner = null;
+ /// <summary>
+ /// The network ID of this thing.
+ /// </summary>
+ /// @note This field will likely disappear in future versions
+ public byte networkId = 0;
+ /// <summary>
+ /// The ID of this thing
+ /// </summary>
+ public byte id = 0;
+
+ /// <summary>
+ /// The type of this thing.
+ /// </summary>
+ /// This can be either a Thing::Type (needs casting) or a byte value for custom types.
+ public byte type = (byte)Type.Undetermined;
+
+ 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>
+ /// Event which is triggered when the parent changes
+ /// </summary>
+ public event ChangeHandler OnParentChanged = delegate { };
+
+ /// <summary>
+ /// Add a child Thing to this Thing
+ /// </summary>
+ /// <param name="child">The Thing which should become a child</param>
+ /// @remark When the Thing is already a child, it will not be added again
+ 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>
+ /// <returns>True when the child was present or false when it was not found</returns>
+ public bool RemoveChild(Thing child) {
+ return children.Remove(child);
+ }
+
+ /// <summary>
+ /// Get a child by thing Id
+ /// </summary>
+ /// <param name="thingId"></param>
+ /// <param name="recursively"></param>
+ /// <returns></returns>
+ Thing GetChild(byte thingId, bool recursively = false) {
+ foreach (Thing child in this.children) {
+ if (child == null)
+ continue;
+
+ if (child.id == thingId)
+ return child;
+ if (recursively) {
+ Thing foundChild = child.GetChild(thingId, recursively);
+ if (foundChild != null)
+ return foundChild;
+ }
+ }
+ return null;
+ }
+ /// <summary>
+ /// Find a child by name
+ /// </summary>
+ /// <param name="name">The name of the child thing</param>
+ /// <param name="recursively">If true, the name will be searched through descendants recursively</param>
+ /// <returns>The found thing or null when nothing is found</returns>
+ Thing FindChild(string name, bool recursively = true) {
+ foreach (Thing child in this.children) {
+ if (child == null)
+ continue;
+
+ if (child.name == name)
+ return child;
+
+ if (recursively) {
+ Thing foundChild = child.FindChild(name, recursively);
+ if (foundChild != null)
+ return foundChild;
+ }
+ }
+ return null;
+ }
+
+ /// <summary>
+ /// The children of this thing
+ /// </summary>
+ [NonSerialized]
+ protected List<Thing> children = new();
+
+
+ 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>
+ /// Event which is triggered when the name changes
+ /// </summary>
+ public event ChangeHandler OnNameChanged = delegate { };
+
+ /// <summary>
+ /// An URL pointing to the location where a model of the thing can be found
+ /// </summary>
+ public string modelUrl = "";
+
+ 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;
+ positionUpdated = true;
+ OnPositionChanged?.Invoke();
+ }
+ }
+ }
+ /// <summary>
+ /// Event triggered when the position has changed
+ /// </summary>
+ public event ChangeHandler OnPositionChanged = delegate { };
+ /// <summary>
+ /// Boolean indicating that the thing has an updated position
+ /// </summary>
+ public bool positionUpdated = false;
+
+ 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;
+ orientationUpdated = true;
+ OnOrientationChanged?.Invoke();
+ }
+ }
+ }
+ /// <summary>
+ /// Event triggered when the orientation has changed
+ /// </summary>
+ public event ChangeHandler OnOrientationChanged = delegate { };
+ /// <summary>
+ /// Boolean indicating the thing has an updated orientation
+ /// </summary>
+ public bool orientationUpdated = false;
+
+ 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;
+ hasLinearVelocity = _linearVelocity.distance != 0;
+ OnLinearVelocityChanged?.Invoke(_linearVelocity);
+ }
+ }
+ }
+ /// <summary>
+ /// Event triggered when the linear velocity has changed
+ /// </summary>
+ public event SphericalHandler OnLinearVelocityChanged = delegate { };
+ /// <summary>
+ /// Boolean indicating the thing has an updated linear velocity
+ /// </summary>
+ public bool hasLinearVelocity = false;
+
+ private Spherical _angularVelocity = Spherical.zero;
+ /// <summary>
+ /// The angular velocity of the thing in local space in degrees per second
+ /// </summary>
+ public Spherical angularVelocity {
+ get => _angularVelocity;
+ set {
+ if (_angularVelocity != value) {
+ _angularVelocity = value;
+ hasAngularVelocity = _angularVelocity.distance != 0;
+ OnAngularVelocityChanged?.Invoke(_angularVelocity);
+ }
+ }
+ }
+ /// <summary>
+ /// Event triggered when the angular velocity has changed
+ /// </summary>
+ public event SphericalHandler OnAngularVelocityChanged = delegate { };
+ /// <summary>
+ /// Boolean indicating the thing has an updated angular velocity
+ /// </summary>
+ public bool hasAngularVelocity = false;
+
+#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 Methods
+
+ /// <summary>
+ /// Update de state of the thing
+ /// </summary>
+ /// <param name="recursively">When true, this will Update the descendants recursively</param>
+ public void Update(bool recursively = false) {
+ Update(TimeManager.GetCurrentTimeMilliseconds(), recursively);
+ }
+ // #endif
+ /// <summary>
+ /// Update this thing
+ /// </summary>
+ /// <param name="currentTime">The current time in milliseconds</param>
+ public virtual void Update(ulong currentTimeMs, bool recursively = false) {
+ // should recurse over children...
+ if (recursively) {
+ for (byte childIx = 0; childIx < this.children.Count; childIx++) {
+ Thing child = this.children[childIx];
+ if (child == null)
+ continue;
+ child.Update(currentTimeMs, recursively);
+ }
+ }
+ positionUpdated = false;
+ orientationUpdated = false;
+ }
+
+ /// <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 Array.Empty<byte>(); }
+
+ /// <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 Methods
+
+ /// <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
new file mode 100644
index 0000000..768ad01
--- /dev/null
+++ b/src/Things/DifferentialDrive.cs
@@ -0,0 +1,50 @@
+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, Type.Undetermined) { }
+
+ /// @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
new file mode 100644
index 0000000..ed66ada
--- /dev/null
+++ b/src/Things/DistanceSensor.cs
@@ -0,0 +1,44 @@
+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, Type.Undetermined) { }
+ /// <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
new file mode 100644
index 0000000..6f7e009
--- /dev/null
+++ b/src/Things/TemperatureSensor.cs
@@ -0,0 +1,33 @@
+//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
new file mode 100644
index 0000000..630adea
--- /dev/null
+++ b/src/Things/TouchSensor.cs
@@ -0,0 +1,62 @@
+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) : base(owner, Type.TouchSensor) {
+ Console.Write("TouchSensor constructor");
+ //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/TimeManager.cs b/src/TimeManager.cs
new file mode 100644
index 0000000..bb00724
--- /dev/null
+++ b/src/TimeManager.cs
@@ -0,0 +1,25 @@
+using System.Diagnostics;
+
+namespace RoboidControl {
+ /// <summary>
+ /// Time manager is een tool mainly to get the current running time in milliseconds
+ /// </summary>
+ 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/test/RoboidControl_Test.csproj b/test/RoboidControl_Test.csproj
new file mode 100644
index 0000000..309ab05
--- /dev/null
+++ b/test/RoboidControl_Test.csproj
@@ -0,0 +1,19 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+ <PropertyGroup>
+ <TargetFramework>net5.0</TargetFramework>
+ <IsPackable>false</IsPackable>
+ <IsTestProject>true</IsTestProject>
+ </PropertyGroup>
+
+ <ItemGroup>
+ <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.13.0" />
+ <PackageReference Include="NUnit" Version="3.13.2" />
+ <PackageReference Include="NUnit3TestAdapter" Version="3.17.0" />
+ </ItemGroup>
+
+ <ItemGroup>
+ <ProjectReference Include="..\src\RoboidControl.csproj" />
+ </ItemGroup>
+
+</Project>
diff --git a/test/UnitTest1.cs b/test/UnitTest1.cs
new file mode 100644
index 0000000..c8c129e
--- /dev/null
+++ b/test/UnitTest1.cs
@@ -0,0 +1,87 @@
+#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) {
+ 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