Opengl gimbals and gimbal system optimizations

.github/workflows/build-test.yml

@@ -68,55 +68,55 @@ jobs:
                   chmod +rwx ./helper-scripts/project-impl/*.sh && chmod +rwx ./helper-scripts/ci-cd/*.sh
 
         - name: Compiling electrostatic-core Native Binaries
-          run: sudo ./helper-scripts/ci-cd/compile-electrostatic.sh "-primer"
+          run: ./helper-scripts/ci-cd/compile-electrostatic.sh "-primer"
 
         - name: Testing electrostatic-core Native Binaries
-          run: sudo ./helper-scripts/ci-cd/test-electrostatic.sh "hello_comm.c" "hello-comm"
+          run: ./helper-scripts/ci-cd/test-electrostatic.sh "hello_comm.c" "hello-comm"
 
         # - name: Testing "hello_vector2d.c"
         #   run: sudo ./helper-scripts/ci-cd/test-electrostatic.sh "hello_vector2d.c" "hello-vec2d"
 
         - name: Testing "hello_contiguous_buffer.c"
-          run: sudo ./helper-scripts/ci-cd/test-electrostatic.sh "hello_lists.c" "hello-listadt"
+          run: ./helper-scripts/ci-cd/test-electrostatic.sh "hello_lists.c" "hello-listadt"
 
         - name: Testing "hello_unittest.c"
-          run: sudo ./helper-scripts/ci-cd/test-electrostatic.sh "hello_unittest.c" "hello-unittest"
+          run: ./helper-scripts/ci-cd/test-electrostatic.sh "hello_unittest.c" "hello-unittest"
 
         - name: Testing "hello_switching_mux.c"
-          run: sudo ./helper-scripts/ci-cd/test-electrostatic.sh "hello_switching_mux.c" "hello-switching-mux"
+          run: ./helper-scripts/ci-cd/test-electrostatic.sh "hello_switching_mux.c" "hello-switching-mux"
 
         - name: Testing Arithmos Calculus (2D Vector Rotation)
-          run: sudo ./helper-scripts/ci-cd/test-electrostatic.sh "calculus/test_vec2d_rotation.c" "test_2d_rotation"
+          run: ./helper-scripts/ci-cd/test-electrostatic.sh "calculus/test_vec2d_rotation.c" "test_2d_rotation"
 
         - name: Testing Arithmos Calculus (3D Gimbal Rotation Sequence)
-          run: sudo ./helper-scripts/ci-cd/test-electrostatic.sh "calculus/test_vec3d_rotation.c" "test_3d_rotation"
+          run: ./helper-scripts/ci-cd/test-electrostatic.sh "calculus/test_vec3d_rotation.c" "test_3d_rotation"
 
         - name: Testing Arithmos Calculus (3D Gimbal Rotation around X-axis)
           run: sudo ./helper-scripts/ci-cd/test-electrostatic.sh "calculus/test_3d_x_gimbal_rotation.c" "test_3d_x_gimbal_rotation"
 
         - name: Testing Arithmos Calculus (3D Gimbal Rotation around Y-axis)
-          run: sudo ./helper-scripts/ci-cd/test-electrostatic.sh "calculus/test_3d_y_gimbal_rotation.c" "test_3d_y_gimbal_rotation"
+          run: ./helper-scripts/ci-cd/test-electrostatic.sh "calculus/test_3d_y_gimbal_rotation.c" "test_3d_y_gimbal_rotation"
 
         - name: Testing Arithmos Calculus (3D Gimbal Rotation around Z-axis)
-          run: sudo ./helper-scripts/ci-cd/test-electrostatic.sh "calculus/test_3d_z_gimbal_rotation.c" "test_3d_z_gimbal_rotation"
+          run: ./helper-scripts/ci-cd/test-electrostatic.sh "calculus/test_3d_z_gimbal_rotation.c" "test_3d_z_gimbal_rotation"
 
         - name: Testing Arithmos Matrix Rotation API
-          run: sudo ./helper-scripts/ci-cd/test-electrostatic.sh "calculus/test_3d_mat_gimbal_rotation.c" "test_3d_mat_gimbal_rotation"
+          run: ./helper-scripts/ci-cd/test-electrostatic.sh "calculus/test_3d_mat_gimbal_rotation.c" "test_3d_mat_gimbal_rotation"
 
         - name: Testing Arithmos Calculus (Matrix Algebra Operations -- mat_product)
-          run: sudo ./helper-scripts/ci-cd/test-electrostatic.sh "calculus/test_mat_product.c" "test_mat_product"
+          run: ./helper-scripts/ci-cd/test-electrostatic.sh "calculus/test_mat_product.c" "test_mat_product"
 
         - name: Testing Arithmos Calculus (Matrix Algebra Operations -- mat_add)
-          run: sudo ./helper-scripts/ci-cd/test-electrostatic.sh "calculus/test_matrix_addition.c" "test_mat_addition"
+          run: ./helper-scripts/ci-cd/test-electrostatic.sh "calculus/test_matrix_addition.c" "test_mat_addition"
 
         - name: Testing Arithmos Calculus (Matrix Algebra Operations -- mat_iterate_elements)
-          run: sudo ./helper-scripts/ci-cd/test-electrostatic.sh "calculus/test_matrix_iteration.c" "test_mat_traversal"
+          run: ./helper-scripts/ci-cd/test-electrostatic.sh "calculus/test_matrix_iteration.c" "test_mat_traversal"
 
         - name: Compiling electrostatic4j Java Binding API
-          run: sudo ./helper-scripts/ci-cd/compile-e4j.sh
+          run: ./helper-scripts/ci-cd/compile-e4j.sh
 
         - name: Testing electrostatic4j Java Binding API
-          run: sudo ./helper-scripts/ci-cd/test-e4j.sh
+          run: ./helper-scripts/ci-cd/test-e4j.sh
 
         - name: Building Serial4j Framework
           run: sudo ./helper-scripts/ci-cd/compile-serial4j.sh

helper-scripts/project-impl/compile-all-android.sh

@@ -17,24 +17,24 @@ util_module="${electronetsoft}/util/"
 
 ./helper-scripts/project-impl/compile-electrostatic.sh \
         "${COMMISSION_LIB}" "${CLANG_BIN}" "${CLANGPP_BIN}" "ON" "ON" "OFF" "-O3 -fPIC" \
-        "--target=${ARM_64}" \
+        "--target=${ARM_64} -D_ELECTRO_ANDROID" \
         "${electrostatic_core_headers}" "${platform_module} ${comm_module} \
         ${algorithm_module} ${util_module}" "${NULL}" "m;c;dl" "${source_dir}" "android" "${ARM_64}" "${POST_COMPILE_TRUE}"
 
 ./helper-scripts/project-impl/compile-electrostatic.sh \
         "${COMMISSION_LIB}" "${CLANG_BIN}" "${CLANGPP_BIN}" "ON" "ON" "OFF" "-O3 -fPIC" \
-        "--target=${ARM_32}" \
+        "--target=${ARM_32} -D_ELECTRO_ANDROID" \
         "${electrostatic_core_headers}" "${platform_module} ${comm_module} \
         ${algorithm_module} ${util_module}" "${NULL}" "m;c;dl" "${source_dir}" "android" "${ARM_32}" "${POST_COMPILE_TRUE}"
 
 ./helper-scripts/project-impl/compile-electrostatic.sh \
         "${COMMISSION_LIB}" "${CLANG_BIN}" "${CLANGPP_BIN}" "ON" "ON" "OFF" "-O3 -fPIC" \
-        "--target=${ANDROID_x86}" \
+        "--target=${ANDROID_x86} -D_ELECTRO_ANDROID" \
         "${electrostatic_core_headers}" "${platform_module} ${comm_module} \
         ${algorithm_module} ${util_module}" "${NULL}" "m;c;dl" "${source_dir}" "android" "${ANDROID_x86}" "${POST_COMPILE_TRUE}"
 
 ./helper-scripts/project-impl/compile-electrostatic.sh \
         "${COMMISSION_LIB}" "${CLANG_BIN}" "${CLANGPP_BIN}" "ON" "ON" "OFF" "-O3 -fPIC" \
-        "--target=${ANDROID_x86_64}" \
+        "--target=${ANDROID_x86_64} -D_ELECTRO_ANDROID" \
         "${electrostatic_core_headers}" "${platform_module} ${comm_module} \
         ${algorithm_module} ${util_module}" "${NULL}" "m;c;dl" "${source_dir}" "android" "${ANDROID_x86_64}" "${POST_COMPILE_TRUE}"

helper-scripts/project-impl/compile-all.sh

@@ -20,12 +20,12 @@ electrokio_module="${electrokio}"
 
 ./helper-scripts/project-impl/compile-electrostatic.sh \
         "${COMMISSION_LIB}" "${GCC_BIN_x86}" "${GPP_BIN_x86}" "ON" "ON" "OFF" "-O3 -fPIC" \
-        "${TARGET_x86_64}" "${TOOLCHAIN_INCLUDES_x86};${electrostatic_core_headers}" "${platform_module} \
-         ${comm_module} ${algorithm_module} ${util_module} ${electrokio_module}" "${NULL}" "m;pthread;dl" "${source_dir}" \
+        "${TARGET_x86_64} -D__LINUX_x86_64" "${TOOLCHAIN_INCLUDES_x86};${electrostatic_core_headers}" "${platform_module} \
+         ${comm_module} ${algorithm_module} ${util_module} ${electrokio_module}" "${NULL}" "m;pthread;dl;glfw;GL" "${source_dir}" \
          "linux" "${x86_64}" "${POST_COMPILE_TRUE}"
 
 ./helper-scripts/project-impl/compile-electrostatic.sh \
         "${COMMISSION_LIB}" "${GCC_BIN_x86}" "${GPP_BIN_x86}" "ON" "ON" "OFF" "-O3 -fPIC" \
-        "${TARGET_x86}" "${TOOLCHAIN_INCLUDES_x86};${electrostatic_core_headers}" "${platform_module} \
+        "${TARGET_x86} -D__LINUX_x86" "${TOOLCHAIN_INCLUDES_x86};${electrostatic_core_headers}" "${platform_module} \
         ${comm_module} ${algorithm_module} ${util_module}" "${NULL}" "m;pthread;dl" "${source_dir}" \
         "linux" "${x86}" "${POST_COMPILE_TRUE}"

helper-scripts/project-impl/compile-examples.sh

@@ -17,7 +17,7 @@ dependencies="$(pwd)/${examples_dir}/dependencies/libs/${SYSTEM_DIR}/${BUILD_DIR
 compile "${EXECUTABLE}" "${GCC_BIN_x86}" "${GPP_BIN_x86}" \
         "OFF" "OFF" "ON" "${INPUT_COMPILER_OPTIONS}" \
         "${TARGET_MACHINE}" "${TOOLCHAIN_INCLUDES_x86};${electrostatic_core_headers}" \
-        "${examples_dir}" "${sources}" "${dependencies};m;pthread;dl"  \
+        "${examples_dir}" "${sources}" "${dependencies};m;pthread;dl;glfw;GL"  \
          "${SYSTEM_DIR}/${BUILD_DIR}" "."
 
 cd "${project_root}" || exit $?

helper-scripts/setup-environment/setup-sandbox.sh

@@ -15,6 +15,8 @@ source "${setup_avr_toolchains_script}"
 # Downloading prerequisite binaries
 ##
 echo "Downloading missing binaries"
+
+sudo apt update
 # typically for WSL machines
 sudo apt-get install make
 sudo apt-get install usbutils
@@ -24,6 +26,17 @@ sudo apt-get install pulseaudio
 sudo apt-get install gcc
 sudo apt-get install g++
 
+sudo apt install \
+    build-essential \
+    pkg-config \
+    libgl1-mesa-dev \
+    libglu1-mesa-dev \
+    freeglut3-dev \
+    libglfw3-dev \
+    libglew-dev
+
+sudo apt update
+
 ##
 # Prepare the sandbox workspace
 ##
@@ -90,4 +103,4 @@ cleanup_ndk
 # create_ide_symbol
 
 source "$(pwd)/helper-scripts/setup-environment/create-symbols.sh"
-source "$(pwd)/helper-scripts/setup-environment/add-user-to-serial-groups.sh"
+source "$(pwd)/helper-scripts/setup-environment/add-user-to-serial-groups.sh"

sdk/core/src/include/electronetsoft/arithmos/vectorspaces/gimbal_system.h

@@ -15,17 +15,11 @@ struct rotation_metadata {
     matrix *out_orientation;
 };
 
-void preprocess_orientator(vector3d *v, vector3d *axis);
+status_code init_rotator_gimbal(vector3d axis, matrix orientation,
+                                                matrix *__rotator,
+                                              vec_component angle);
 
-status_code preprocess_mat3_orientator(vec3d_gimbal, vector3d *);
-
-status_code init_rotator_gimbal(vector3d axis, matrix *__rotator,
-                                              vec_component angle,
-                                              vec_component *angle1,
-                                              vec3d_gimbal *gimbal);
-
-status_code rotate_gimbal(vector3d axis, vec_component angle1,
-                                        matrix *__rotator,
+status_code rotate_gimbal(vector3d axis, matrix __rotator,
                                         vec3d_gimbal *in_gimbal,
                                         vec3d_gimbal *out_gimbal,
                                         vec3d_processors *procs);

sdk/core/src/include/electronetsoft/arithmos/vectorspaces/gimbal_visualizer.h

@@ -0,0 +1,34 @@
+// dissociate this file from the ElectroMIO Library
+#if !(defined GIMBAL_VISUALIZER_H && (defined __LINUX_x86 || defined _ELECTRO_MIO || defined _ELECTRO_ANDROID))
+
+#define GIMBAL_VISUALIZER_H
+
+#include <GLFW/glfw3.h>
+#include <GL/gl.h>
+#include <electronetsoft/arithmos_calculus.h>
+#include <electronetsoft/arithmos/vectorspaces/matrix/matrix.h>
+
+typedef struct {
+    GLFWwindow *window;
+    int width;
+    int height;
+    float rotation_x;
+    float rotation_y;
+    float rotation_z;
+    vec3d_gimbal gimbal;
+} gimbal_visualizer;
+
+/* Initialize the OpenGL window and visualizer */
+gimbal_visualizer* gimbal_visualizer_init(int width, int height, vec3d_gimbal *gimbal);
+
+/* Update and Render the gimbal visualization */
+void gimbal_visualizer_render(gimbal_visualizer *viz, mat3_gimbal *gimbal);
+void gimbal_visualizer_update(gimbal_visualizer *viz, mat3_gimbal *mat_gimbal);
+
+/* Check if the visualizer window should close */
+int gimbal_visualizer_should_close(gimbal_visualizer *viz);
+
+/* Cleanup and destroy the visualizer */
+void gimbal_visualizer_destroy(gimbal_visualizer *viz);
+
+#endif

sdk/core/src/include/electronetsoft/arithmos/vectorspaces/matrix/matrix3.h

@@ -3,6 +3,7 @@
 
 #include <math.h>
 #include <electronetsoft/arithmos/vectorspaces/matrix/matrix.h>
+#include <electronetsoft/util/utilities.h>
 
 #ifdef __cplusplus
 extern "C" {
@@ -17,13 +18,16 @@ struct mat3_processors {
     mat_processors processors;
     void (*on_gimbal_lock_trap)(mat3_gimbal rotated,
             vector_gimbal gimbal,
-            vec_component angle);
+            vec_component angle,
+            mat_processors);
 };
 
 status_code mat3_translate(matrix, matrix, matrix *, mat_processors);
 status_code mat3_rotate(mat3_gimbal m, vector3d axis,
                         mat3_gimbal *out, vec_component angle,
                         mat3_processors proc);
+status_code mat3_get_axis_orientation(mat3_gimbal m, vector3d axis, vector3d *out);
+status_code mat3_get_vector(mat3_gimbal m, vector3d axis, vector3d *out);
 #ifdef __cplusplus
 };
 #endif

sdk/core/src/include/electronetsoft/arithmos/vectorspaces/vector3d/vector3d.h

@@ -22,6 +22,10 @@ struct vec3d_gimbal {
     vec_component y_gimbal;
     vec_component z_gimbal;
 
+    vec_component delta_x;
+    vec_component delta_y;
+    vec_component delta_z;
+
     matrix *orientation;
 };
 
@@ -102,18 +106,18 @@ extern vector3d VEC3_Z_COMPONENT;
 
 static inline vector_gimbal get_vec_gimbal(vector3d axis) {
     if ((axis.x > ___ROTATION_MIN_THRESHOLD) &&
-        ((axis.y >= 0) && (axis.y < 1)) &&
-        ((axis.z >= 0) && (axis.z < 1))) {
+        ((axis.y >= 0) && (axis.y < axis.x)) &&
+        ((axis.z >= 0) && (axis.z < axis.x))) {
 
         return GIMBAL_X;
     } else if ((axis.y > ___ROTATION_MIN_THRESHOLD) &&
-               ((axis.x >= 0) && (axis.x < 1)) &&
-               ((axis.z >= 0) && (axis.z < 1))) {
+               ((axis.x >= 0) && (axis.x < axis.y)) &&
+               ((axis.z >= 0) && (axis.z < axis.y))) {
 
         return GIMBAL_Y;
     } else if ((axis.z > ___ROTATION_MIN_THRESHOLD) &&
-               ((axis.y >= 0) && (axis.y < 1)) &&
-               ((axis.x >= 0) && (axis.x < 1))) {
+               ((axis.y >= 0) && (axis.y < axis.z)) &&
+               ((axis.x >= 0) && (axis.x < axis.z))) {
 
         return GIMBAL_Z;
     }

sdk/core/src/include/electronetsoft/util/utilities.h

@@ -5,8 +5,12 @@
 #include <stdarg.h>
 #include <stdbool.h>
 #include <stddef.h>
+#include <string.h>
+#include <electronetsoft/arithmos/vectorspaces/vector2d/vector2d.h>
 #include <electronetsoft/util/types.h>
 
+#define ___DELTA ((float) 1 * vector2d_pow(10.0f, -10.0f))
+
 #ifdef __cplusplus
 extern "C" { // disable C++ name mangling by declaring function prototypes
             // a C externally linked space
@@ -100,6 +104,43 @@ static inline typed_pointer get_typed_pointer(void *address, pointer_type type)
     return pointer;
 }
 
+/**
+ * @brief Improved spreading: uses a 64-bit Mixer (MurmurHash3 style)
+ * to distribute entropy across the entire 64-bit range.
+ */
+static inline status_code spread_64(uint64_t in, uint64_t *out) {
+    if (rvalue(out) == NULL) {
+        return EUNDEFINEDBUFFER;
+    }
+
+    in = (in ^ (in >> 30)) * 0xbf58476d1ce4e5b9ULL;
+    in = (in ^ (in >> 27)) * 0x94d049bb133111ebULL;
+    in = in ^ (in >> 31);
+    *out = in;
+
+    return PASS;
+}
+
+static inline status_code hash_key(const char *key, uint64_t *hash) {
+    if (rvalue((void *) key) == NULL || rvalue(hash) == NULL) {
+        return EUNDEFINEDBUFFER;
+    }
+
+    // Use a large prime constant to initialize (FNV-1a style)
+    uint64_t h = 0xcbf29ce484222325ULL;
+
+    // Process every character
+    for (const char *address = key; *address != '\0'; address++) {
+        // 1. XOR the character into the hash
+        h ^= (uint8_t) (*address);
+        // 2. Multiply by a large prime (this spreads the bits)
+        h *= 0x100000001b3ULL;
+    }
+
+    // Apply your spread_64 as a finalizer to ensure high entropy
+    return spread_64(h, hash);
+}
+
 #ifdef __cplusplus
 };
 #endif