Merge branch 'refs/heads/dev' into cpp20

README.md

@@ -210,6 +210,7 @@ An example is provided [here](tests/threepp_vcpkg_test).
 ![Shadows](doc/screenshots/Shadows.PNG)
 ![FlyControls](doc/screenshots/fly.PNG)
 ![Crane](doc/screenshots/crane.png)
+![Optimization](doc/screenshots/Optimization.PNG)
 ![Physics](doc/screenshots/instanced_physics.PNG)
 ![Water](doc/screenshots/OlympicOctopus.PNG)
 ![MotorController](doc/screenshots/motor_controller.PNG)

examples/animation/simple_skinning.cpp

@@ -1,5 +1,4 @@
 #include "threepp/helpers/SkeletonHelper.hpp"
-#include "threepp/lights/LightShadow.hpp"
 #include "threepp/loaders/AssimpLoader.hpp"
 #include "threepp/materials/LineBasicMaterial.hpp"
 #include "threepp/threepp.hpp"

examples/controls/drag.cpp

@@ -2,6 +2,8 @@
 #include "threepp/controls/DragControls.hpp"
 #include "threepp/threepp.hpp"
 
+#include <iostream>
+
 using namespace threepp;
 
 int main() {
@@ -86,7 +88,7 @@ int main() {
     controls.addEventListener("hoveron", &hoverListener);
     controls.addEventListener("hoveroff", &hoverListener);
 
-    KeyAdapter keyAdapter(KeyAdapter::Mode::KEY_PRESSED, [&](KeyEvent evt){
+    KeyAdapter keyAdapter(KeyAdapter::Mode::KEY_PRESSED, [&](KeyEvent evt) {
         if (evt.key == Key::M) {
             if (controls.mode == DragControls::Mode::Translate) {
                 controls.mode = DragControls::Mode::Rotate;
@@ -104,6 +106,8 @@ int main() {
         renderer.setSize(size);
     });
 
+    std::cout << "Press 'm' to switch between translate and rotate mode" << std::endl;
+
     canvas.animate([&] {
         renderer.render(scene, camera);
     });

examples/external/CMakeLists.txt

@@ -1,5 +1,5 @@
 
-add_library(imgui OBJECT)
+add_library(imgui STATIC)
 add_library(imgui::imgui ALIAS imgui)
 target_sources(imgui PRIVATE
         "imgui/imgui.cpp"

examples/extras/core/CMakeLists.txt

@@ -1,4 +1,4 @@
 
 add_example(NAME "fonts" LINK_IMGUI WEB WEB_EMBED
-    "../data/fonts@data/fonts"
+        "../data/fonts@data/fonts"
 )

examples/extras/physics/RigidbodyInfo.hpp

@@ -85,7 +85,7 @@ namespace threepp {
 
     struct MaterialInfo {
         float friction;
-        float restitution ;
+        float restitution;
 
         MaterialInfo(float friction, float restitution)
             : friction(friction), restitution(restitution) {}

examples/extras/physics/physx_demo.cpp

@@ -232,7 +232,7 @@ int main() {
             renderer.invokeLater([&, obj] {
                 scene.remove(*obj);
             },
-                               2);// remove after 2 seconds
+                                 2);// remove after 2 seconds
         } else if (evt.key == Key::D) {
             engine.debugVisualisation = !engine.debugVisualisation;
         }

examples/geometries/geometries.cpp

@@ -23,7 +23,6 @@ namespace {
 
     private:
         float scale;
-
     };
 
     auto createBox(const std::shared_ptr<Material>& m1, const std::shared_ptr<LineBasicMaterial>& m2) {

examples/libs/geo/MapView.cpp

@@ -61,8 +61,8 @@ MapProvider* MapView::getProvider() const {
 
 void MapView::reload() {
     traverse([&](Object3D& object) {
-      if (auto node = object.as<MapNode>()) {
-          node->initialize();
-      }
+        if (auto node = object.as<MapNode>()) {
+            node->initialize();
+        }
     });
 }

examples/libs/geo/nodes/MapNode.cpp

@@ -37,7 +37,7 @@ bool MapNode::simplify() {
     this->layers.enable(0);
     this->nodesLoaded = 0;
 
-    return true; //signals that node needs clearing. Can't do it while traversing
+    return true;//signals that node needs clearing. Can't do it while traversing
 }
 
 void MapNode::loadData() {

examples/libs/optimization/Optimizer.hpp

@@ -7,7 +7,6 @@
 class Optimizer {
 
 public:
-
     [[nodiscard]] virtual size_t size() const = 0;
 
     [[nodiscard]] virtual const Candidate& getCandiateAt(size_t index) const = 0;

examples/libs/optimization/Problem.hpp

@@ -3,10 +3,10 @@
 #define THREEPP_PROBLEM_HPP
 
 #include <cassert>
-#include <utility>
-#include <vector>
 #include <cmath>
 #include <random>
+#include <utility>
+#include <vector>
 
 class Constraint {
 
@@ -139,7 +139,7 @@ class Problem {
             value = dis(gen);
         }
 
-        return {candidate,  eval(candidate)};
+        return {candidate, eval(candidate)};
     }
 
     [[nodiscard]] virtual std::vector<std::vector<float>> solutions() const = 0;

examples/libs/pathfinding/Path.hpp

@@ -5,11 +5,11 @@
 
 #include "Coordinate.hpp"
 
+#include <algorithm>
 #include <ostream>
 #include <stdexcept>
 #include <string>
 #include <vector>
-#include <algorithm>
 
 /**
  * A path determined by some path finding algorithm. A series of steps from
@@ -36,7 +36,7 @@ class Path {
      *
 	 * @return The step information, the position on the map.
 	 */
-    const Coordinate &operator[](size_t index) const {
+    const Coordinate& operator[](size_t index) const {
 
         if (index >= steps_.size()) {
             throw std::runtime_error("Index out of bounds: " + std::to_string(index));
@@ -49,17 +49,17 @@ class Path {
 	 *
 	 * @param c The coordinate of the new step
 	 */
-    void prependStep(const Coordinate &c) {
+    void prependStep(const Coordinate& c) {
 
         steps_.insert(steps_.begin(), c);
     }
 
-    [[nodiscard]] const Coordinate &start() const {
+    [[nodiscard]] const Coordinate& start() const {
 
         return steps_.front();
     }
 
-    [[nodiscard]] const Coordinate &target() const {
+    [[nodiscard]] const Coordinate& target() const {
 
         return steps_.back();
     }
@@ -70,7 +70,7 @@ class Path {
      *
      * @return True if contains the coordinate, false otherwise
      */
-    [[nodiscard]] bool contains(const Coordinate &c) {
+    [[nodiscard]] bool contains(const Coordinate& c) {
 
         return std::find(steps_.begin(), steps_.end(), c) != std::end(steps_);
     }

examples/libs/pathfinding/algorithm/AStar.hpp

@@ -246,7 +246,7 @@ class AStar: public Pathfinder {
 	 */
     float getHeuristicCost(const Coordinate& s, const Coordinate& t) {
 
-        if (!heuristic) return 0; // Dijkstra's
+        if (!heuristic) return 0;// Dijkstra's
 
         return heuristic->getCost(*map, s, t);
     }

examples/lights/CMakeLists.txt

@@ -1,5 +1,5 @@
 
 add_example(NAME "hemi_light" WEB)
-add_example(NAME "point_light" WEB )
+add_example(NAME "point_light" WEB)
 add_example(NAME "spot_light" WEB)
 add_example(NAME "directional" WEB)

examples/misc/morphtargets.cpp

@@ -124,7 +124,6 @@ int main() {
 
     Raycaster raycaster;
     canvas.animate([&] {
-
         box.setFromObject(*mesh);
 
         raycaster.setFromCamera(mouse, *camera);

examples/misc/morphtargets_sphere.cpp

@@ -75,7 +75,7 @@ int main() {
 
         if (influence <= 0 || influence >= 1) {
             sign *= -1;
-            influence = std::clamp(influence, 0.01f, 0.99f); // avoid "locking"
+            influence = std::clamp(influence, 0.01f, 0.99f);// avoid "locking"
         }
 
         renderer.render(scene, camera);

examples/objects/bones.cpp

@@ -104,7 +104,7 @@ namespace {
         Sizing sizing{segmentHeight, segmentCount, height, halfHeight};
 
         auto geometry = createGeometry(sizing);
-        geometry->applyMatrix4(Matrix4().makeTranslation(0,halfHeight,0));
+        geometry->applyMatrix4(Matrix4().makeTranslation(0, halfHeight, 0));
         auto bones = createBones(sizing);
 
         auto mesh = createMesh(geometry, bones);

examples/projects/Crane3R/Crane3R.cpp

@@ -26,8 +26,8 @@ namespace {
 
         auto cyl1 = Mesh::create(geometry, material);
         auto cyl2 = Mesh::create(geometry, material);
-        cyl1->position.x = sep/2;
-        cyl2->position.x = -sep/2;
+        cyl1->position.x = sep / 2;
+        cyl2->position.x = -sep / 2;
         group->add(cyl1);
         group->add(cyl2);
 
@@ -50,8 +50,8 @@ namespace {
 
         auto cyl1 = Mesh::create(geometry, material);
         auto cyl2 = Mesh::create(geometry, material);
-        cyl1->position.x = sep/2;
-        cyl2->position.x = -sep/2;
+        cyl1->position.x = sep / 2;
+        cyl2->position.x = -sep / 2;
         group->add(cyl1);
         group->add(cyl2);
 

examples/projects/InvertedPendulum/InvertedPendulum.hpp

@@ -11,7 +11,6 @@
 class InvertedPendulum {
 
 public:
-
     // Function to simulate the system for a certain duration
     void simulate(double duration, double externalForce, Regulator* regulator = nullptr) {
         int steps = static_cast<int>(duration / internalTimeStep);
@@ -34,7 +33,6 @@ class InvertedPendulum {
     }
 
 private:
-
     double cartPosition{0};                          // Position of the cart
     double pendulumAngle{threepp::math::degToRad(5)};// Angle of the pendulum
     double cartVelocity{0};                          // Velocity of the cart

examples/projects/MapView/CMakeLists.txt

@@ -1,6 +1,6 @@
 
 if (TARGET geothreepp)
-    
+
     add_example(NAME "MapView" SOURCES "main.cpp")
     if (TARGET "MapView")
         target_link_libraries("MapView" PRIVATE geothreepp)

examples/projects/MotorControl/main.cpp

@@ -140,7 +140,7 @@ int main() {
         ImGui::Begin("Motor Controller");
 
         ImGui::Text("Target position");
-        if(ImGui::SliderFloat("deg", &targetPosition, 0, 180)) {
+        if (ImGui::SliderFloat("deg", &targetPosition, 0, 180)) {
             targetText->setText("Target position: " + std::to_string(targetPosition), opts);
         }
         ImGui::Text("PID gains");

examples/projects/Optimization/optimization.cpp

@@ -91,7 +91,7 @@ int main() {
 
     Lut::addColorMap("rainbow", {{0.f, 0x0000ff}, {0.001f, 0x00ffff}, {0.02f, 0xffff00}, {0.2f, 0xff0000}, {1.f, Color::darkred}});
 
-    Canvas canvas("Lut", {{"aa", 6}});
+    Canvas canvas("Optimization", {{"aa", 6}});
     GLRenderer renderer(canvas.size());
 
     Scene scene;
@@ -158,7 +158,7 @@ int main() {
     changeFunction(functions.begin()->first);
 
 
-    auto changeAlgorithm = [&](const std::string& name){
+    auto changeAlgorithm = [&](const std::string& name) {
         selectedAlgorithm = name;
 
         auto& algorithm = algorithms[name];

examples/projects/Pathfinding/main.cpp

@@ -92,7 +92,7 @@ int main() {
     };
 
     Raycaster raycaster;
-    raycaster.layers.set(1); // ignore grid
+    raycaster.layers.set(1);// ignore grid
     Vector2 mouse{-Infinity<float>, -Infinity<float>};
     MouseUpListener mouseListener([&](int button, Vector2 pos) {
         if (start && target) return;

examples/projects/Youbot/KeyController.hpp

@@ -0,0 +1,66 @@
+
+#ifndef THREEPP_KEYCONTROLLER_HPP
+#define THREEPP_KEYCONTROLLER_HPP
+
+#include "threepp/input/KeyListener.hpp"
+
+#include "Youbot.hpp"
+
+class KeyController: public threepp::KeyListener {
+
+public:
+    KeyController(Youbot& youbot)
+        : youbot_(&youbot) {}
+
+    void onKeyPressed(KeyEvent evt) override {
+        if (evt.key == Key::W) {
+            keyState_.up = true;
+        } else if (evt.key == Key::S) {
+            keyState_.down = true;
+        } else if (evt.key == Key::D) {
+            keyState_.right = true;
+        } else if (evt.key == Key::A) {
+            keyState_.left = true;
+        }
+    }
+
+    void onKeyReleased(KeyEvent evt) override {
+        if (evt.key == Key::W) {
+            keyState_.up = false;
+        } else if (evt.key == Key::S) {
+            keyState_.down = false;
+        } else if (evt.key == Key::D) {
+            keyState_.right = false;
+        } else if (evt.key == Key::A) {
+            keyState_.left = false;
+        }
+    }
+
+    void update(float dt) {
+
+        if (keyState_.up) {
+            youbot_->driveForwards(dt);
+        }
+        if (keyState_.down) {
+            youbot_->driveBackwards(dt);
+        }
+        if (keyState_.right) {
+            youbot_->driveRight(dt);
+        }
+        if (keyState_.left) {
+            youbot_->driveLeft(dt);
+        }
+    }
+
+private:
+    Youbot* youbot_;
+
+    struct KeyState {
+        bool left = false;
+        bool right = false;
+        bool up = false;
+        bool down = false;
+    } keyState_;
+};
+
+#endif//THREEPP_KEYCONTROLLER_HPP