Add gl view for testing.

experimental/optimized-parse.cc

@@ -294,6 +294,7 @@ static inline int fixIndex(int idx, int n) {
   return n + idx;  // negative value = relative
 }
 
+#if 0
 // Parse triples with index offsets: i, i/j/k, i//k, i/j
 static vertex_index parseTriple(const char **token, int vsize, int vnsize,
                                 int vtsize) {
@@ -340,6 +341,7 @@ static vertex_index parseTriple(const char **token, int vsize, int vnsize,
   }
   return vi;
 }
+#endif
 
 // Parse raw triples: i, i/j/k, i//k, i/j
 static vertex_index parseRawTriple(const char **token) {
@@ -600,7 +602,21 @@ typedef struct
   CommandType type;
 } Command;
 
-bool parseLine(Command *command, const char *p, size_t p_len)
+struct CommandCount
+{
+  size_t num_v;
+  size_t num_vn;
+  size_t num_vt;
+  size_t num_f;
+  CommandCount() {
+    num_v = 0;
+    num_vn = 0;
+    num_vt = 0;
+    num_f = 0;
+  }
+};
+
+static bool parseLine(Command *command, const char *p, size_t p_len)
 {
     char linebuf[4096];
     assert(p_len < 4095);
@@ -667,7 +683,6 @@ bool parseLine(Command *command, const char *p, size_t p_len)
       //token += strspn(token, " \t");
       skip_space(&token);
 
-      int num_verts = 0;
       while (!IS_NEW_LINE(token[0])) {
         vertex_index vi = parseRawTriple(&token);
         //printf("v = %d, %d, %d\n", vi.v_idx, vi.vn_idx, vi.vt_idx);
@@ -747,7 +762,8 @@ bool parseLine(Command *command, const char *p, size_t p_len)
 
     // group name
     if (token[0] == 'g' && IS_SPACE((token[1]))) {
-      ShortString names[16];
+      std::vector<ShortString> names;
+      
       int num_names = 0;
 
       while (!IS_NEW_LINE(token[0])) {
@@ -759,10 +775,10 @@ bool parseLine(Command *command, const char *p, size_t p_len)
 
       assert(num_names > 0);
 
-      int name_idx = 0;
+      //int name_idx = 0;
       // names[0] must be 'g', so skip the 0th element.
       if (num_names > 1) {
-        name_idx = 1;
+        //name_idx = 1;
       }
 
       //command->group_name->assign(names[name_idx]);
@@ -820,13 +836,25 @@ typedef struct
 
 // Idea come from https://github.com/antonmks/nvParse
 // 1. mmap file
-// 2. find newline(\n) and list of line data.
+// 2. find newline(\n, \r\n, \r) and list of line data.
 // 3. Do parallel parsing for each line.
 // 4. Reconstruct final mesh data structure.
 
 #define kMaxThreads (32)
 
-void parse(const char* buf, size_t len, int req_num_threads)
+static inline bool is_line_ending(const char* p, size_t i, size_t end_i)
+{
+  if (p[i] == '\0') return true;
+  if (p[i] == '\n') return true; // this includes \r\n 
+  if (p[i] == '\r') {
+    if (((i+1) < end_i) && (p[i+1] != '\n')) { // detect only \r case
+      return true;
+    }
+  }
+  return false;
+}
+
+void parse(std::vector<float> &vertices, std::vector<float> &normals, std::vector<float> &texcoords, std::vector<vertex_index> &faces, const char* buf, size_t len, int req_num_threads)
 {
 
   std::vector<char> newline_marker(len, 0);
@@ -840,7 +868,7 @@ void parse(const char* buf, size_t len, int req_num_threads)
   std::atomic<size_t> newline_counter(0);
 
   std::vector<LineInfo> line_infos[kMaxThreads];
-  for (auto t = 0; t < num_threads; t++) {
+  for (size_t t = 0; t < static_cast<size_t>(num_threads); t++) {
     // Pre allocate enough memory. len / 1024 / num_threads is just a heuristic value.
     line_infos[t].reserve(len / 1024 / num_threads);
   }
@@ -852,18 +880,18 @@ void parse(const char* buf, size_t len, int req_num_threads)
     auto start_time = std::chrono::high_resolution_clock::now();
     auto chunk_size = len / num_threads;
 
-    for (auto t = 0; t < num_threads; t++) {
+    for (size_t t = 0; t < static_cast<size_t>(num_threads); t++) {
       workers.push_back(std::thread([&, t]() {
         auto start_idx = (t + 0) * chunk_size;
         auto end_idx   = std::min((t + 1) * chunk_size, len - 1);
-        if (t == (num_threads - 1)) {
+        if (t == static_cast<size_t>((num_threads - 1))) {
           end_idx = len - 1;
         }
 
         size_t prev_pos = start_idx;
         for (size_t i = start_idx; i < end_idx; i++) {
-          if (buf[i] == '\n') {
+          if (is_line_ending(buf, i, end_idx)) {
-            if ((t > 0) && (prev_pos == start_idx) && (buf[start_idx-1] != '\n')) { 
+            if ((t > 0) && (prev_pos == start_idx) && (!is_line_ending(buf, start_idx-1, end_idx))) { 
               // first linebreak found in (chunk > 0), and a line before this linebreak belongs to previous chunk, so skip it.
               prev_pos = i + 1;
               continue;
@@ -885,7 +913,7 @@ void parse(const char* buf, size_t len, int req_num_threads)
         if ((t < num_threads) && (buf[end_idx-1] != '\n')) {
           auto extra_span_idx = std::min(end_idx-1+chunk_size, len - 1);
           for (size_t i = end_idx; i < extra_span_idx; i++) {
-            if (buf[i] == '\n') {
+            if (is_line_ending(buf, i, extra_span_idx)) {
               LineInfo info;
               info.pos = prev_pos;
               info.len = i - prev_pos;
@@ -912,7 +940,7 @@ void parse(const char* buf, size_t len, int req_num_threads)
   }
 
   auto line_sum = 0;
-  for (auto t = 0; t < num_threads; t++) {
+  for (size_t t = 0; t < num_threads; t++) {
     std::cout << t << ": # of lines = " << line_infos[t].size() << std::endl;
     line_sum += line_infos[t].size();
   }
@@ -929,19 +957,30 @@ void parse(const char* buf, size_t len, int req_num_threads)
 
   std::cout << ms1.count() << " ms\n";
 
+  CommandCount command_count[kMaxThreads];
+
   // 2. parse each line in parallel.
   {
     std::vector<std::thread> workers;
     auto t_start = std::chrono::high_resolution_clock::now();
 
-    for (auto t = 0; t < num_threads; t++) {
+    for (size_t t = 0; t < num_threads; t++) {
       workers.push_back(std::thread([&, t]() {
 
-        for (auto i = 0; i < line_infos[t].size(); i++) {
+        for (size_t i = 0; i < line_infos[t].size(); i++) {
           Command command;
           bool ret = parseLine(&command, &buf[line_infos[t][i].pos], line_infos[t][i].len);
           if (ret) {
-            commands[t].push_back(command);
+            if (command.type == COMMAND_V) {
+              command_count[t].num_v++;
+            } else if (command.type == COMMAND_VN) {
+              command_count[t].num_vn++;
+            } else if (command.type == COMMAND_VT) {
+              command_count[t].num_vt++;
+            } else if (command.type == COMMAND_F) {
+              command_count[t].num_f++;
+            } 
+            commands[t].emplace_back(std::move(command));
           }
         }
 
@@ -959,16 +998,31 @@ void parse(const char* buf, size_t len, int req_num_threads)
   }
 
   auto command_sum = 0;
-  for (auto t = 0; t < num_threads; t++) {
+  for (size_t t = 0; t < num_threads; t++) {
     //std::cout << t << ": # of commands = " << commands[t].size() << std::endl;
     command_sum += commands[t].size();
   }
   //std::cout << "# of commands = " << command_sum << std::endl;
 
-  std::vector<float> vertices;
+  size_t num_v = 0;
-  std::vector<float> normals;
+  size_t num_vn = 0;
-  std::vector<float> texcoords;
+  size_t num_vt = 0;
-  std::vector<vertex_index> faces;
+  size_t num_f = 0;
+  for (size_t t = 0; t < num_threads; t++) {
+      num_v += command_count[t].num_v;
+      num_vn += command_count[t].num_vn;
+      num_vt += command_count[t].num_vt;
+      num_f += command_count[t].num_f;
+  }
+  std::cout << "# v " << num_v << std::endl;
+  std::cout << "# vn " << num_vn << std::endl;
+  std::cout << "# vt " << num_vt << std::endl;
+  std::cout << "# f " << num_f << std::endl;
+
+  vertices.reserve(num_v * 3);
+  normals.reserve(num_vn * 3);
+  texcoords.reserve(num_vt * 2);
+  faces.reserve(num_f);
 
   // merge
   {
@@ -979,25 +1033,25 @@ void parse(const char* buf, size_t len, int req_num_threads)
         if (commands[t][i].type == COMMAND_EMPTY) {
           continue;
         } else if (commands[t][i].type == COMMAND_V) {
-          vertices.push_back(commands[t][i].vx);
+          vertices.emplace_back(commands[t][i].vx);
-          vertices.push_back(commands[t][i].vy);
+          vertices.emplace_back(commands[t][i].vy);
-          vertices.push_back(commands[t][i].vz);
+          vertices.emplace_back(commands[t][i].vz);
         } else if (commands[t][i].type == COMMAND_VN) {
-          normals.push_back(commands[t][i].nx);
+          normals.emplace_back(commands[t][i].nx);
-          normals.push_back(commands[t][i].ny);
+          normals.emplace_back(commands[t][i].ny);
-          normals.push_back(commands[t][i].nz);
+          normals.emplace_back(commands[t][i].nz);
         } else if (commands[t][i].type == COMMAND_VT) {
-          texcoords.push_back(commands[t][i].tx);
+          texcoords.emplace_back(commands[t][i].tx);
-          texcoords.push_back(commands[t][i].ty);
+          texcoords.emplace_back(commands[t][i].ty);
         } else if (commands[t][i].type == COMMAND_F) {
           int v_size = vertices.size() / 3;
           int vn_size = normals.size() / 3;
           int vt_size = texcoords.size() / 2;
           for (size_t k = 0; k < commands[t][i].f.size(); k++) {
             int v_idx = fixIndex(commands[t][i].f[k].v_idx, v_size);
-            int vn_idx = fixIndex(commands[t][i].f[k].vn_idx, v_size);
+            int vn_idx = fixIndex(commands[t][i].f[k].vn_idx, vn_size);
-            int vt_idx = fixIndex(commands[t][i].f[k].vt_idx, v_size);
+            int vt_idx = fixIndex(commands[t][i].f[k].vt_idx, vt_size);
-            faces.push_back(vertex_index(v_idx, vn_idx, vt_idx));
+            faces.emplace_back(std::move(vertex_index(v_idx, vn_idx, vt_idx)));
           }
         }
       }
@@ -1020,6 +1074,7 @@ void parse(const char* buf, size_t len, int req_num_threads)
 
 }
 
+#ifdef CONSOLE_TEST
 int
 main(int argc, char **argv)
 {
@@ -1035,7 +1090,7 @@ main(int argc, char **argv)
   }
 
 #ifdef _WIN64
-  HANDLE file = CreateFileA("lineitem.tbl", GENERIC_READ, FILE_SHARE_READ, NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL | FILE_FLAG_SEQUENTIAL_SCAN, NULL);
+  HANDLE file = CreateFileA(argv[1], GENERIC_READ, FILE_SHARE_READ, NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL | FILE_FLAG_SEQUENTIAL_SCAN, NULL);
     assert(file != INVALID_HANDLE_VALUE);
 
     HANDLE fileMapping = CreateFileMapping(file, NULL, PAGE_READONLY, 0, 0, NULL);
@@ -1090,3 +1145,4 @@ main(int argc, char **argv)
   
   return EXIT_SUCCESS;
 }
+#endif

experimental/premake4.lua

@@ -0,0 +1,48 @@
+solution "objview"
+	-- location ( "build" )
+	configurations { "Debug", "Release" }
+	platforms {"native", "x64", "x32"}
+	
+	project "objview"
+
+		kind "ConsoleApp"
+		language "C++"
+		files { "viewer.cc", "trackball.cc" }
+		includedirs { "./" }
+		includedirs { "../../" }
+
+      buildoptions { "-std=c++11" }
+      buildoptions { "-fsanitize=address" }
+      linkoptions { "-fsanitize=address" }
+
+		configuration { "linux" }
+			linkoptions { "`pkg-config --libs glfw3`" }
+			links { "GL", "GLU", "m", "GLEW", "X11", "Xrandr", "Xinerama", "Xi", "Xxf86vm", "Xcursor", "dl" }
+			linkoptions { "-pthread" }
+
+		configuration { "windows" }
+			-- Path to GLFW3
+			includedirs { '../../../../local/glfw-3.1.2.bin.WIN64/include' }
+			libdirs { '../../../../local/glfw-3.1.2.bin.WIN64/lib-vc2013' }
+			-- Path to GLEW
+			includedirs { '../../../../local/glew-1.13.0/include' }
+			libdirs { '../../../../local/glew-1.13.0/lib/Release/x64' }
+
+			links { "glfw3", "glew32", "gdi32", "winmm", "user32", "glu32","opengl32", "kernel32" }
+			defines { "_CRT_SECURE_NO_WARNINGS" }
+
+		configuration { "macosx" }
+			includedirs { "/usr/local/include" }
+			buildoptions { "-Wno-deprecated-declarations" }
+			libdirs { "/usr/local/lib" }
+			links { "glfw3", "GLEW" }
+			linkoptions { "-framework OpenGL", "-framework Cocoa", "-framework IOKit", "-framework CoreVideo" }
+
+		configuration "Debug"
+			defines { "DEBUG" }
+			flags { "Symbols", "ExtraWarnings"}
+
+		configuration "Release"
+			defines { "NDEBUG" }
+			flags { "Optimize", "ExtraWarnings"}
+

experimental/trackball.cc

@@ -0,0 +1,292 @@
+/*
+ * (c) Copyright 1993, 1994, Silicon Graphics, Inc.
+ * ALL RIGHTS RESERVED
+ * Permission to use, copy, modify, and distribute this software for
+ * any purpose and without fee is hereby granted, provided that the above
+ * copyright notice appear in all copies and that both the copyright notice
+ * and this permission notice appear in supporting documentation, and that
+ * the name of Silicon Graphics, Inc. not be used in advertising
+ * or publicity pertaining to distribution of the software without specific,
+ * written prior permission.
+ *
+ * THE MATERIAL EMBODIED ON THIS SOFTWARE IS PROVIDED TO YOU "AS-IS"
+ * AND WITHOUT WARRANTY OF ANY KIND, EXPRESS, IMPLIED OR OTHERWISE,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY OR
+ * FITNESS FOR A PARTICULAR PURPOSE.  IN NO EVENT SHALL SILICON
+ * GRAPHICS, INC.  BE LIABLE TO YOU OR ANYONE ELSE FOR ANY DIRECT,
+ * SPECIAL, INCIDENTAL, INDIRECT OR CONSEQUENTIAL DAMAGES OF ANY
+ * KIND, OR ANY DAMAGES WHATSOEVER, INCLUDING WITHOUT LIMITATION,
+ * LOSS OF PROFIT, LOSS OF USE, SAVINGS OR REVENUE, OR THE CLAIMS OF
+ * THIRD PARTIES, WHETHER OR NOT SILICON GRAPHICS, INC.  HAS BEEN
+ * ADVISED OF THE POSSIBILITY OF SUCH LOSS, HOWEVER CAUSED AND ON
+ * ANY THEORY OF LIABILITY, ARISING OUT OF OR IN CONNECTION WITH THE
+ * POSSESSION, USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ * US Government Users Restricted Rights
+ * Use, duplication, or disclosure by the Government is subject to
+ * restrictions set forth in FAR 52.227.19(c)(2) or subparagraph
+ * (c)(1)(ii) of the Rights in Technical Data and Computer Software
+ * clause at DFARS 252.227-7013 and/or in similar or successor
+ * clauses in the FAR or the DOD or NASA FAR Supplement.
+ * Unpublished-- rights reserved under the copyright laws of the
+ * United States.  Contractor/manufacturer is Silicon Graphics,
+ * Inc., 2011 N.  Shoreline Blvd., Mountain View, CA 94039-7311.
+ *
+ * OpenGL(TM) is a trademark of Silicon Graphics, Inc.
+ */
+/*
+ * Trackball code:
+ *
+ * Implementation of a virtual trackball.
+ * Implemented by Gavin Bell, lots of ideas from Thant Tessman and
+ *   the August '88 issue of Siggraph's "Computer Graphics," pp. 121-129.
+ *
+ * Vector manip code:
+ *
+ * Original code from:
+ * David M. Ciemiewicz, Mark Grossman, Henry Moreton, and Paul Haeberli
+ *
+ * Much mucking with by:
+ * Gavin Bell
+ */
+#include <math.h>
+#include "trackball.h"
+
+/*
+ * This size should really be based on the distance from the center of
+ * rotation to the point on the object underneath the mouse.  That
+ * point would then track the mouse as closely as possible.  This is a
+ * simple example, though, so that is left as an Exercise for the
+ * Programmer.
+ */
+#define TRACKBALLSIZE (0.8)
+
+/*
+ * Local function prototypes (not defined in trackball.h)
+ */
+static float tb_project_to_sphere(float, float, float);
+static void normalize_quat(float[4]);
+
+static void vzero(float *v) {
+  v[0] = 0.0;
+  v[1] = 0.0;
+  v[2] = 0.0;
+}
+
+static void vset(float *v, float x, float y, float z) {
+  v[0] = x;
+  v[1] = y;
+  v[2] = z;
+}
+
+static void vsub(const float *src1, const float *src2, float *dst) {
+  dst[0] = src1[0] - src2[0];
+  dst[1] = src1[1] - src2[1];
+  dst[2] = src1[2] - src2[2];
+}
+
+static void vcopy(const float *v1, float *v2) {
+  register int i;
+  for (i = 0; i < 3; i++)
+    v2[i] = v1[i];
+}
+
+static void vcross(const float *v1, const float *v2, float *cross) {
+  float temp[3];
+
+  temp[0] = (v1[1] * v2[2]) - (v1[2] * v2[1]);
+  temp[1] = (v1[2] * v2[0]) - (v1[0] * v2[2]);
+  temp[2] = (v1[0] * v2[1]) - (v1[1] * v2[0]);
+  vcopy(temp, cross);
+}
+
+static float vlength(const float *v) {
+  return sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
+}
+
+static void vscale(float *v, float div) {
+  v[0] *= div;
+  v[1] *= div;
+  v[2] *= div;
+}
+
+static void vnormal(float *v) { vscale(v, 1.0 / vlength(v)); }
+
+static float vdot(const float *v1, const float *v2) {
+  return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2];
+}
+
+static void vadd(const float *src1, const float *src2, float *dst) {
+  dst[0] = src1[0] + src2[0];
+  dst[1] = src1[1] + src2[1];
+  dst[2] = src1[2] + src2[2];
+}
+
+/*
+ * Ok, simulate a track-ball.  Project the points onto the virtual
+ * trackball, then figure out the axis of rotation, which is the cross
+ * product of P1 P2 and O P1 (O is the center of the ball, 0,0,0)
+ * Note:  This is a deformed trackball-- is a trackball in the center,
+ * but is deformed into a hyperbolic sheet of rotation away from the
+ * center.  This particular function was chosen after trying out
+ * several variations.
+ *
+ * It is assumed that the arguments to this routine are in the range
+ * (-1.0 ... 1.0)
+ */
+void trackball(float q[4], float p1x, float p1y, float p2x, float p2y) {
+  float a[3]; /* Axis of rotation */
+  float phi;  /* how much to rotate about axis */
+  float p1[3], p2[3], d[3];
+  float t;
+
+  if (p1x == p2x && p1y == p2y) {
+    /* Zero rotation */
+    vzero(q);
+    q[3] = 1.0;
+    return;
+  }
+
+  /*
+   * First, figure out z-coordinates for projection of P1 and P2 to
+   * deformed sphere
+   */
+  vset(p1, p1x, p1y, tb_project_to_sphere(TRACKBALLSIZE, p1x, p1y));
+  vset(p2, p2x, p2y, tb_project_to_sphere(TRACKBALLSIZE, p2x, p2y));
+
+  /*
+   *  Now, we want the cross product of P1 and P2
+   */
+  vcross(p2, p1, a);
+
+  /*
+   *  Figure out how much to rotate around that axis.
+   */
+  vsub(p1, p2, d);
+  t = vlength(d) / (2.0 * TRACKBALLSIZE);
+
+  /*
+   * Avoid problems with out-of-control values...
+   */
+  if (t > 1.0)
+    t = 1.0;
+  if (t < -1.0)
+    t = -1.0;
+  phi = 2.0 * asin(t);
+
+  axis_to_quat(a, phi, q);
+}
+
+/*
+ *  Given an axis and angle, compute quaternion.
+ */
+void axis_to_quat(float a[3], float phi, float q[4]) {
+  vnormal(a);
+  vcopy(a, q);
+  vscale(q, sin(phi / 2.0));
+  q[3] = cos(phi / 2.0);
+}
+
+/*
+ * Project an x,y pair onto a sphere of radius r OR a hyperbolic sheet
+ * if we are away from the center of the sphere.
+ */
+static float tb_project_to_sphere(float r, float x, float y) {
+  float d, t, z;
+
+  d = sqrt(x * x + y * y);
+  if (d < r * 0.70710678118654752440) { /* Inside sphere */
+    z = sqrt(r * r - d * d);
+  } else { /* On hyperbola */
+    t = r / 1.41421356237309504880;
+    z = t * t / d;
+  }
+  return z;
+}
+
+/*
+ * Given two rotations, e1 and e2, expressed as quaternion rotations,
+ * figure out the equivalent single rotation and stuff it into dest.
+ *
+ * This routine also normalizes the result every RENORMCOUNT times it is
+ * called, to keep error from creeping in.
+ *
+ * NOTE: This routine is written so that q1 or q2 may be the same
+ * as dest (or each other).
+ */
+
+#define RENORMCOUNT 97
+
+void add_quats(float q1[4], float q2[4], float dest[4]) {
+  static int count = 0;
+  float t1[4], t2[4], t3[4];
+  float tf[4];
+
+  vcopy(q1, t1);
+  vscale(t1, q2[3]);
+
+  vcopy(q2, t2);
+  vscale(t2, q1[3]);
+
+  vcross(q2, q1, t3);
+  vadd(t1, t2, tf);
+  vadd(t3, tf, tf);
+  tf[3] = q1[3] * q2[3] - vdot(q1, q2);
+
+  dest[0] = tf[0];
+  dest[1] = tf[1];
+  dest[2] = tf[2];
+  dest[3] = tf[3];
+
+  if (++count > RENORMCOUNT) {
+    count = 0;
+    normalize_quat(dest);
+  }
+}
+
+/*
+ * Quaternions always obey:  a^2 + b^2 + c^2 + d^2 = 1.0
+ * If they don't add up to 1.0, dividing by their magnitued will
+ * renormalize them.
+ *
+ * Note: See the following for more information on quaternions:
+ *
+ * - Shoemake, K., Animating rotation with quaternion curves, Computer
+ *   Graphics 19, No 3 (Proc. SIGGRAPH'85), 245-254, 1985.
+ * - Pletinckx, D., Quaternion calculus as a basic tool in computer
+ *   graphics, The Visual Computer 5, 2-13, 1989.
+ */
+static void normalize_quat(float q[4]) {
+  int i;
+  float mag;
+
+  mag = (q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]);
+  for (i = 0; i < 4; i++)
+    q[i] /= mag;
+}
+
+/*
+ * Build a rotation matrix, given a quaternion rotation.
+ *
+ */
+void build_rotmatrix(float m[4][4], const float q[4]) {
+  m[0][0] = 1.0 - 2.0 * (q[1] * q[1] + q[2] * q[2]);
+  m[0][1] = 2.0 * (q[0] * q[1] - q[2] * q[3]);
+  m[0][2] = 2.0 * (q[2] * q[0] + q[1] * q[3]);
+  m[0][3] = 0.0;
+
+  m[1][0] = 2.0 * (q[0] * q[1] + q[2] * q[3]);
+  m[1][1] = 1.0 - 2.0 * (q[2] * q[2] + q[0] * q[0]);
+  m[1][2] = 2.0 * (q[1] * q[2] - q[0] * q[3]);
+  m[1][3] = 0.0;
+
+  m[2][0] = 2.0 * (q[2] * q[0] - q[1] * q[3]);
+  m[2][1] = 2.0 * (q[1] * q[2] + q[0] * q[3]);
+  m[2][2] = 1.0 - 2.0 * (q[1] * q[1] + q[0] * q[0]);
+  m[2][3] = 0.0;
+
+  m[3][0] = 0.0;
+  m[3][1] = 0.0;
+  m[3][2] = 0.0;
+  m[3][3] = 1.0;
+}

experimental/trackball.h

@@ -0,0 +1,75 @@
+/*
+ * (c) Copyright 1993, 1994, Silicon Graphics, Inc.
+ * ALL RIGHTS RESERVED
+ * Permission to use, copy, modify, and distribute this software for
+ * any purpose and without fee is hereby granted, provided that the above
+ * copyright notice appear in all copies and that both the copyright notice
+ * and this permission notice appear in supporting documentation, and that
+ * the name of Silicon Graphics, Inc. not be used in advertising
+ * or publicity pertaining to distribution of the software without specific,
+ * written prior permission.
+ *
+ * THE MATERIAL EMBODIED ON THIS SOFTWARE IS PROVIDED TO YOU "AS-IS"
+ * AND WITHOUT WARRANTY OF ANY KIND, EXPRESS, IMPLIED OR OTHERWISE,
+ * INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY OR
+ * FITNESS FOR A PARTICULAR PURPOSE.  IN NO EVENT SHALL SILICON
+ * GRAPHICS, INC.  BE LIABLE TO YOU OR ANYONE ELSE FOR ANY DIRECT,
+ * SPECIAL, INCIDENTAL, INDIRECT OR CONSEQUENTIAL DAMAGES OF ANY
+ * KIND, OR ANY DAMAGES WHATSOEVER, INCLUDING WITHOUT LIMITATION,
+ * LOSS OF PROFIT, LOSS OF USE, SAVINGS OR REVENUE, OR THE CLAIMS OF
+ * THIRD PARTIES, WHETHER OR NOT SILICON GRAPHICS, INC.  HAS BEEN
+ * ADVISED OF THE POSSIBILITY OF SUCH LOSS, HOWEVER CAUSED AND ON
+ * ANY THEORY OF LIABILITY, ARISING OUT OF OR IN CONNECTION WITH THE
+ * POSSESSION, USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ * US Government Users Restricted Rights
+ * Use, duplication, or disclosure by the Government is subject to
+ * restrictions set forth in FAR 52.227.19(c)(2) or subparagraph
+ * (c)(1)(ii) of the Rights in Technical Data and Computer Software
+ * clause at DFARS 252.227-7013 and/or in similar or successor
+ * clauses in the FAR or the DOD or NASA FAR Supplement.
+ * Unpublished-- rights reserved under the copyright laws of the
+ * United States.  Contractor/manufacturer is Silicon Graphics,
+ * Inc., 2011 N.  Shoreline Blvd., Mountain View, CA 94039-7311.
+ *
+ * OpenGL(TM) is a trademark of Silicon Graphics, Inc.
+ */
+/*
+ * trackball.h
+ * A virtual trackball implementation
+ * Written by Gavin Bell for Silicon Graphics, November 1988.
+ */
+
+/*
+ * Pass the x and y coordinates of the last and current positions of
+ * the mouse, scaled so they are from (-1.0 ... 1.0).
+ *
+ * The resulting rotation is returned as a quaternion rotation in the
+ * first paramater.
+ */
+void trackball(float q[4], float p1x, float p1y, float p2x, float p2y);
+
+void negate_quat(float *q, float *qn);
+
+/*
+ * Given two quaternions, add them together to get a third quaternion.
+ * Adding quaternions to get a compound rotation is analagous to adding
+ * translations to get a compound translation.  When incrementally
+ * adding rotations, the first argument here should be the new
+ * rotation, the second and third the total rotation (which will be
+ * over-written with the resulting new total rotation).
+ */
+void add_quats(float *q1, float *q2, float *dest);
+
+/*
+ * A useful function, builds a rotation matrix in Matrix based on
+ * given quaternion.
+ */
+void build_rotmatrix(float m[4][4], const float q[4]);
+
+/*
+ * This function computes a quaternion based on an axis (defined by
+ * the given vector) and an angle about which to rotate.  The angle is
+ * expressed in radians.  The result is put into the third argument.
+ */
+void axis_to_quat(float a[3], float phi, float q[4]);

experimental/viewer.cc

@@ -0,0 +1,487 @@
+//
+// Simple .obj viewer(vertex only)
+//
+#include <vector>
+#include <string>
+#include <cstdio>
+#include <cstdlib>
+#include <iostream>
+#include <limits>
+#include <cmath>
+#include <cassert>
+#include <algorithm>	
+
+#include <GL/glew.h>
+
+#ifdef __APPLE__
+#include <OpenGL/glu.h>
+#else
+#include <GL/glu.h>
+#endif
+
+#include <GLFW/glfw3.h>
+
+#include "trackball.h"
+#include "optimized-parse.cc"
+
+typedef struct {
+  GLuint vb;    // vertex buffer
+  int numTriangles;
+} DrawObject;
+
+std::vector<DrawObject> gDrawObjects;
+
+int width = 768;
+int height = 768;
+
+double prevMouseX, prevMouseY;
+bool mouseLeftPressed;
+bool mouseMiddlePressed;
+bool mouseRightPressed;
+float curr_quat[4];
+float prev_quat[4];
+float eye[3], lookat[3], up[3];
+
+GLFWwindow* window;
+
+void CheckErrors(std::string desc) {
+  GLenum e = glGetError();
+  if (e != GL_NO_ERROR) {
+    fprintf(stderr, "OpenGL error in \"%s\": %d (%d)\n", desc.c_str(), e, e);
+    exit(20);
+  }
+}
+
+void CalcNormal(float N[3], float v0[3], float v1[3], float v2[3]) {
+  float v10[3];
+  v10[0] = v1[0] - v0[0];
+  v10[1] = v1[1] - v0[1];
+  v10[2] = v1[2] - v0[2];
+
+  float v20[3];
+  v20[0] = v2[0] - v0[0];
+  v20[1] = v2[1] - v0[1];
+  v20[2] = v2[2] - v0[2];
+
+  N[0] = v20[1] * v10[2] - v20[2] * v10[1];
+  N[1] = v20[2] * v10[0] - v20[0] * v10[2];
+  N[2] = v20[0] * v10[1] - v20[1] * v10[0];
+
+  float len2 = N[0] * N[0] + N[1] * N[1] + N[2] * N[2];
+  if (len2 > 0.0f) {
+    float len = sqrtf(len2);
+    
+    N[0] /= len;
+    N[1] /= len;
+  }
+}
+
+const char *mmap_file(size_t *len, const char* filename)
+{
+#ifdef _WIN64
+  HANDLE file = CreateFileA(filename, GENERIC_READ, FILE_SHARE_READ, NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL | FILE_FLAG_SEQUENTIAL_SCAN, NULL);
+    assert(file != INVALID_HANDLE_VALUE);
+
+    HANDLE fileMapping = CreateFileMapping(file, NULL, PAGE_READONLY, 0, 0, NULL);
+    assert(fileMapping != INVALID_HANDLE_VALUE);
+ 
+    LPVOID fileMapView = MapViewOfFile(fileMapping, FILE_MAP_READ, 0, 0, 0);
+    auto fileMapViewChar = (const char*)fileMapView;
+    assert(fileMapView != NULL);
+#else
+
+  FILE* f = fopen(filename, "r" );
+  fseek(f, 0, SEEK_END);
+  long fileSize = ftell(f);
+  fclose(f);
+
+  struct stat sb;
+  char *p;
+  int fd;
+
+  fd = open (filename, O_RDONLY);
+  if (fd == -1) {
+    perror ("open");
+    return NULL;
+  }
+
+  if (fstat (fd, &sb) == -1) {
+    perror ("fstat");
+    return NULL;
+  }
+
+  if (!S_ISREG (sb.st_mode)) {
+    fprintf (stderr, "%s is not a file\n", "lineitem.tbl");
+    return NULL;
+  }
+
+  p = (char*)mmap (0, fileSize, PROT_READ, MAP_SHARED, fd, 0);
+
+  if (p == MAP_FAILED) {
+    perror ("mmap");
+    return NULL;
+  }
+
+  if (close (fd) == -1) {
+    perror ("close");
+    return NULL;
+  }
+
+  return p;
+
+  (*len) = fileSize;
+#endif
+}
+
+
+bool LoadObjAndConvert(float bmin[3], float bmax[3], const char* filename)
+{
+  std::vector<float> vertices;
+  std::vector<float> normals;
+  std::vector<float> texcoords;
+  std::vector<vertex_index> faces;
+
+  size_t data_len = 0;
+  const char* data = nullptr;
+  data = mmap_file(&data_len, filename);
+  if (data == nullptr) {
+    exit(-1);
+    return false;
+  }
+  parse(vertices, normals, texcoords, faces,  data, data_len, 1);
+
+  bmin[0] = bmin[1] = bmin[2] = std::numeric_limits<float>::max();
+  bmax[0] = bmax[1] = bmax[2] = -std::numeric_limits<float>::max();
+
+  {
+        DrawObject o;
+        std::vector<float> vb; // pos(3float), normal(3float), color(3float)
+        for (size_t f = 0; f < faces.size()/3; f++) {
+
+          vertex_index idx0 = faces[3*f+0];
+          vertex_index idx1 = faces[3*f+1];
+          vertex_index idx2 = faces[3*f+2];
+
+          float v[3][3];
+          for (int k = 0; k < 3; k++) {
+            int f0 = idx0.v_idx;
+            int f1 = idx1.v_idx;
+            int f2 = idx2.v_idx;
+            assert(f0 >= 0);
+            assert(f1 >= 0);
+            assert(f2 >= 0);
+
+            v[0][k] = vertices[3*f0+k];
+            v[1][k] = vertices[3*f1+k];
+            v[2][k] = vertices[3*f2+k];
+            bmin[k] = std::min(v[0][k], bmin[k]);
+            bmin[k] = std::min(v[1][k], bmin[k]);
+            bmin[k] = std::min(v[2][k], bmin[k]);
+            bmax[k] = std::max(v[0][k], bmax[k]);
+            bmax[k] = std::max(v[1][k], bmax[k]);
+            bmax[k] = std::max(v[2][k], bmax[k]);
+          }
+
+          float n[3][3];
+
+          if (normals.size() > 0) { 
+            int f0 = idx0.vn_idx;
+            int f1 = idx1.vn_idx;
+            int f2 = idx2.vn_idx;
+            assert(f0 >= 0);
+            assert(f1 >= 0);
+            assert(f2 >= 0);
+            for (int k = 0; k < 3; k++) {
+              n[0][k] = normals[3*f0+k];
+              n[1][k] = normals[3*f1+k];
+              n[2][k] = normals[3*f2+k];
+            }
+          } else {
+            // compute geometric normal
+            CalcNormal(n[0], v[0], v[1], v[2]);
+            n[1][0] = n[0][0]; n[1][1] = n[0][1]; n[1][2] = n[0][2];
+            n[2][0] = n[0][0]; n[2][1] = n[0][1]; n[2][2] = n[0][2];
+          }
+
+          for (int k = 0; k < 3; k++) {
+            vb.push_back(v[k][0]);
+            vb.push_back(v[k][1]);
+            vb.push_back(v[k][2]);
+            vb.push_back(n[k][0]);
+            vb.push_back(n[k][1]);
+            vb.push_back(n[k][2]);
+            // Use normal as color.
+            float c[3] = {n[k][0], n[k][1], n[k][2]};
+            float len2 = c[0] * c[0] + c[1] * c[1] + c[2] * c[2];
+            if (len2 > 0.0f) {
+              float len = sqrtf(len2);
+              
+              c[0] /= len;
+              c[1] /= len;
+              c[2] /= len;
+            }
+            vb.push_back(c[0] * 0.5 + 0.5);
+            vb.push_back(c[1] * 0.5 + 0.5);
+            vb.push_back(c[2] * 0.5 + 0.5);
+          }
+          
+        }
+
+        o.vb = 0;
+        o.numTriangles = 0;
+        if (vb.size() > 0) {
+          glGenBuffers(1, &o.vb);
+          glBindBuffer(GL_ARRAY_BUFFER, o.vb);
+          glBufferData(GL_ARRAY_BUFFER, vb.size() * sizeof(float), &vb.at(0), GL_STATIC_DRAW);
+          o.numTriangles = vb.size() / 9 / 3;
+        }
+
+        gDrawObjects.push_back(o);
+  }
+  
+  printf("bmin = %f, %f, %f\n", bmin[0], bmin[1], bmin[2]);
+  printf("bmax = %f, %f, %f\n", bmax[0], bmax[1], bmax[2]);
+
+  return true;
+}
+
+void reshapeFunc(GLFWwindow* window, int w, int h)
+{
+  (void)window;
+  printf("reshape\n");
+  glViewport(0, 0, w, h);
+  glMatrixMode(GL_PROJECTION);
+  glLoadIdentity();
+  gluPerspective(45.0, (float)w / (float)h, 0.01f, 100.0f);
+  glMatrixMode(GL_MODELVIEW);
+  glLoadIdentity();
+
+  width = w;
+  height = h;
+}
+
+void keyboardFunc(GLFWwindow *window, int key, int scancode, int action, int mods) {
+  (void)window;
+  (void)scancode;
+  (void)mods;
+    if(action == GLFW_PRESS || action == GLFW_REPEAT){
+        // Move camera
+        float mv_x = 0, mv_y = 0, mv_z = 0;
+        if(key == GLFW_KEY_K) mv_x += 1;
+        else if(key == GLFW_KEY_J) mv_x += -1;
+        else if(key == GLFW_KEY_L) mv_y += 1;
+        else if(key == GLFW_KEY_H) mv_y += -1;
+        else if(key == GLFW_KEY_P) mv_z += 1;
+        else if(key == GLFW_KEY_N) mv_z += -1;
+        //camera.move(mv_x * 0.05, mv_y * 0.05, mv_z * 0.05);
+        // Close window
+        if(key == GLFW_KEY_Q || key == GLFW_KEY_ESCAPE) glfwSetWindowShouldClose(window, GL_TRUE);
+
+        //init_frame = true;
+    }
+}
+
+void clickFunc(GLFWwindow* window, int button, int action, int mods){
+  (void)window;
+  (void)mods;
+    if(button == GLFW_MOUSE_BUTTON_LEFT){
+        if(action == GLFW_PRESS){
+            mouseLeftPressed = true;
+            trackball(prev_quat, 0.0, 0.0, 0.0, 0.0);
+        } else if(action == GLFW_RELEASE){
+            mouseLeftPressed = false;
+        }
+    }
+    if(button == GLFW_MOUSE_BUTTON_RIGHT){
+        if(action == GLFW_PRESS){
+            mouseRightPressed = true;
+        } else if(action == GLFW_RELEASE){
+            mouseRightPressed = false;
+        }
+    }
+    if(button == GLFW_MOUSE_BUTTON_MIDDLE){
+        if(action == GLFW_PRESS){
+            mouseMiddlePressed = true;
+        } else if(action == GLFW_RELEASE){
+            mouseMiddlePressed = false;
+        }
+    }
+}
+
+void motionFunc(GLFWwindow* window, double mouse_x, double mouse_y){
+  (void)window;
+  float rotScale = 1.0f;
+  float transScale = 2.0f;
+
+    if(mouseLeftPressed){
+      trackball(prev_quat,
+          rotScale * (2.0f * prevMouseX - width) / (float)width,
+          rotScale * (height - 2.0f * prevMouseY) / (float)height,
+          rotScale * (2.0f * mouse_x - width) / (float)width,
+          rotScale * (height - 2.0f * mouse_y) / (float)height);
+
+      add_quats(prev_quat, curr_quat, curr_quat);
+    } else if (mouseMiddlePressed) {
+      eye[0] -= transScale * (mouse_x - prevMouseX) / (float)width;
+      lookat[0] -= transScale * (mouse_x - prevMouseX) / (float)width;
+      eye[1] += transScale * (mouse_y - prevMouseY) / (float)height;
+      lookat[1] += transScale * (mouse_y - prevMouseY) / (float)height;
+    } else if (mouseRightPressed) {
+      eye[2] += transScale * (mouse_y - prevMouseY) / (float)height;
+      lookat[2] += transScale * (mouse_y - prevMouseY) / (float)height;
+    }
+
+    // Update mouse point
+    prevMouseX = mouse_x;
+    prevMouseY = mouse_y;
+}
+
+void Draw(const std::vector<DrawObject>& drawObjects)
+{
+  glPolygonMode(GL_FRONT, GL_FILL);
+  glPolygonMode(GL_BACK, GL_FILL);
+
+  glEnable(GL_POLYGON_OFFSET_FILL);
+  glPolygonOffset(1.0, 1.0);
+  glColor3f(1.0f, 1.0f, 1.0f);
+  for (size_t i = 0; i < drawObjects.size(); i++) {
+    DrawObject o = drawObjects[i];
+    if (o.vb < 1) {
+      continue;
+    }
+ 
+    glBindBuffer(GL_ARRAY_BUFFER, o.vb);
+    glEnableClientState(GL_VERTEX_ARRAY);
+    glEnableClientState(GL_NORMAL_ARRAY);
+    glEnableClientState(GL_COLOR_ARRAY);
+    glVertexPointer(3, GL_FLOAT, 36, (const void*)0);
+    glNormalPointer(GL_FLOAT, 36, (const void*)(sizeof(float)*3));
+    glColorPointer(3, GL_FLOAT, 36, (const void*)(sizeof(float)*6));
+
+    glDrawArrays(GL_TRIANGLES, 0, 3 * o.numTriangles);
+    CheckErrors("drawarrays");
+  }
+
+  // draw wireframe
+  glDisable(GL_POLYGON_OFFSET_FILL);
+  glPolygonMode(GL_FRONT, GL_LINE);
+  glPolygonMode(GL_BACK, GL_LINE);
+
+  glColor3f(0.0f, 0.0f, 0.4f);
+  for (size_t i = 0; i < drawObjects.size(); i++) {
+    DrawObject o = drawObjects[i];
+    if (o.vb < 1) {
+      continue;
+    }
+ 
+    glBindBuffer(GL_ARRAY_BUFFER, o.vb);
+    glEnableClientState(GL_VERTEX_ARRAY);
+    glEnableClientState(GL_NORMAL_ARRAY);
+    glDisableClientState(GL_COLOR_ARRAY);
+    glVertexPointer(3, GL_FLOAT, 36, (const void*)0);
+    glNormalPointer(GL_FLOAT, 36, (const void*)(sizeof(float)*3));
+
+    glDrawArrays(GL_TRIANGLES, 0, 3 * o.numTriangles);
+    CheckErrors("drawarrays");
+  }
+}
+
+static void Init() {
+  trackball(curr_quat, 0, 0, 0, 0);
+
+  eye[0] = 0.0f;
+  eye[1] = 0.0f;
+  eye[2] = 3.0f;
+
+  lookat[0] = 0.0f;
+  lookat[1] = 0.0f;
+  lookat[2] = 0.0f;
+
+  up[0] = 0.0f;
+  up[1] = 1.0f;
+  up[2] = 0.0f;
+}
+
+
+int main(int argc, char **argv)
+{
+  if (argc < 2) {
+    std::cout << "Needs input.obj\n" << std::endl;
+    return 0;
+  }
+
+  Init();
+ 
+
+  if(!glfwInit()){
+    std::cerr << "Failed to initialize GLFW." << std::endl;
+    return -1;
+  }
+
+  
+
+  window = glfwCreateWindow(width, height, "Obj viewer", NULL, NULL);
+  if(window == NULL){
+    std::cerr << "Failed to open GLFW window. " << std::endl;
+    glfwTerminate();
+    return 1;
+  }
+
+  glfwMakeContextCurrent(window);
+  glfwSwapInterval(1);
+
+  // Callback
+  glfwSetWindowSizeCallback(window, reshapeFunc);
+  glfwSetKeyCallback(window, keyboardFunc);
+  glfwSetMouseButtonCallback(window, clickFunc);
+  glfwSetCursorPosCallback(window, motionFunc);
+
+  glewExperimental = true;
+  if (glewInit() != GLEW_OK) {
+    std::cerr << "Failed to initialize GLEW." << std::endl;
+    return -1;
+  }
+
+  reshapeFunc(window, width, height);
+
+  float bmin[3], bmax[3];
+  if (false == LoadObjAndConvert(bmin, bmax, argv[1])) {
+    return -1;
+  }
+
+  float maxExtent = 0.5f * (bmax[0] - bmin[0]);
+  if (maxExtent < 0.5f * (bmax[1] - bmin[1])) {
+    maxExtent = 0.5f * (bmax[1] - bmin[1]);
+  }
+  if (maxExtent < 0.5f * (bmax[2] - bmin[2])) {
+    maxExtent = 0.5f * (bmax[2] - bmin[2]);
+  }
+
+  while(glfwWindowShouldClose(window) == GL_FALSE) {
+    glfwPollEvents();
+    glClearColor(0.1f, 0.2f, 0.3f, 1.0f);
+    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+    glEnable(GL_DEPTH_TEST);
+
+    // camera & rotate
+    glMatrixMode(GL_MODELVIEW);
+    glLoadIdentity();
+    GLfloat mat[4][4];
+    gluLookAt(eye[0], eye[1], eye[2], lookat[0], lookat[1], lookat[2], up[0], up[1], up[2]);
+    build_rotmatrix(mat, curr_quat);
+    glMultMatrixf(&mat[0][0]);
+
+    // Fit to -1, 1
+    glScalef(1.0f / maxExtent, 1.0f / maxExtent, 1.0f / maxExtent);
+
+    // Centerize object.
+    glTranslatef(-0.5*(bmax[0] + bmin[0]), -0.5*(bmax[1] + bmin[1]), -0.5*(bmax[2] + bmin[2]));
+  
+    Draw(gDrawObjects);
+
+    glfwSwapBuffers(window);
+  }
+
+  glfwTerminate();
+}