src/events/SDL_gesture.c
author Jim Grandpre <jim.tla@gmail.com>
Fri, 09 Jul 2010 00:50:40 -0700
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Moved $1 Gestures into the SDL Library
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/*
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    SDL - Simple DirectMedia Layer
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    Copyright (C) 1997-2010 Sam Lantinga
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    This library is free software; you can redistribute it and/or
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    modify it under the terms of the GNU Lesser General Public
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    License as published by the Free Software Foundation; either
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    version 2.1 of the License, or (at your option) any later version.
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    This library is distributed in the hope that it will be useful,
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    but WITHOUT ANY WARRANTY; without even the implied warranty of
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    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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    Lesser General Public License for more details.
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    You should have received a copy of the GNU Lesser General Public
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    License along with this library; if not, write to the Free Software
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    Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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    Sam Lantinga
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    slouken@libsdl.org
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*/
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#include "SDL_config.h"
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/* General mouse handling code for SDL */
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#include "SDL_events.h"
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#include "SDL_events_c.h"
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#include "SDL_gesture_c.h"
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//TODO: Replace with malloc
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#define MAXFINGERS 3
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#define MAXTOUCHES 2
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#define MAXTEMPLATES 4
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#define MAXPATHSIZE 1024
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#define DOLLARNPOINTS 64
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#define DOLLARSIZE 256
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//PHI = ((sqrt(5)-1)/2)
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#define PHI 0.618033989 
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typedef struct {
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  float x,y;
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} Point;
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typedef struct {
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  Point p;
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  float pressure;
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  int id;
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} Finger;
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typedef struct {
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  float length;
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  int numPoints;
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  Point p[MAXPATHSIZE];
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} DollarPath;
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typedef struct {
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  Finger f;
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  Point cv;
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  float dtheta,dDist;
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  DollarPath dollarPath;
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} TouchPoint;
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typedef struct {
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  int id;
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  Point res;
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  Point centroid;
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  TouchPoint gestureLast[MAXFINGERS];
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  int numDownFingers;
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  int numDollarTemplates;
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  Point dollarTemplate[MAXTEMPLATES][DOLLARNPOINTS];
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} GestureTouch;
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GestureTouch gestureTouch[MAXTOUCHES];
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int numGestureTouches = 0;
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float dollarDifference(Point* points,Point* templ,float ang) {
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  //  Point p[DOLLARNPOINTS];
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  float dist = 0;
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  Point p;
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  int i;
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  for(i = 0; i < DOLLARNPOINTS; i++) {
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    p.x = points[i].x * cos(ang) - points[i].y * sin(ang);
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    p.y = points[i].x * sin(ang) + points[i].y * cos(ang);
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    dist += sqrt((p.x-templ[i].x)*(p.x-templ[i].x)+
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		 (p.y-templ[i].y)*(p.y-templ[i].y));
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  }
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  return dist/DOLLARNPOINTS;
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}
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float bestDollarDifference(Point* points,Point* templ) {
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  //------------BEGIN DOLLAR BLACKBOX----------------//
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  //-TRANSLATED DIRECTLY FROM PSUDEO-CODE AVAILABLE AT-//
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  //-"http://depts.washington.edu/aimgroup/proj/dollar/"-//
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  float ta = -M_PI/4;
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  float tb = M_PI/4;
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  float dt = M_PI/90;
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  float x1 = PHI*ta + (1-PHI)*tb;
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  float f1 = dollarDifference(points,templ,x1);
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  float x2 = (1-PHI)*ta + PHI*tb;
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  float f2 = dollarDifference(points,templ,x2);
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  while(abs(ta-tb) > dt) {
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    if(f1 < f2) {
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      tb = x2;
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      x2 = x1;
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      f2 = f1;
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      x1 = PHI*ta + (1-PHI)*tb;
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      f1 = dollarDifference(points,templ,x1);
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    }
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    else {
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      ta = x1;
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      x1 = x2;
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      f1 = f2;
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      x2 = (1-PHI)*ta + PHI*tb;
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      f2 = dollarDifference(points,templ,x2);
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    }
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  }
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  /*
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  if(f1 <= f2)
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    printf("Min angle (x1): %f\n",x1);
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  else if(f1 >  f2)
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    printf("Min angle (x2): %f\n",x2);
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  */
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  return SDL_min(f1,f2);  
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}
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float dollarRecognize(DollarPath path,int *bestTempl,GestureTouch* touch) {
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  Point points[DOLLARNPOINTS];
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  int numPoints = dollarNormalize(path,points);
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  int i;
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  int bestDiff = 10000;
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  *bestTempl = -1;
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  for(i = 0;i < touch->numDollarTemplates;i++) {
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    int diff = bestDollarDifference(points,touch->dollarTemplate[i]);
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    if(diff < bestDiff) {bestDiff = diff; *bestTempl = i;}
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  }
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  return bestDiff;
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}
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//DollarPath contains raw points, plus (possibly) the calculated length
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int dollarNormalize(DollarPath path,Point *points) {
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  int i;
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  //Calculate length if it hasn't already been done
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  if(path.length <= 0) {
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    for(i=1;i<path.numPoints;i++) {
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      float dx = path.p[i  ].x - 
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	         path.p[i-1].x;
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      float dy = path.p[i  ].y - 
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	         path.p[i-1].y;
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      path.length += sqrt(dx*dx+dy*dy);
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    }
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  }
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  //Resample
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  float interval = path.length/(DOLLARNPOINTS - 1);
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  float dist = 0;
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  int numPoints = 0;
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  Point centroid; centroid.x = 0;centroid.y = 0;
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  //printf("(%f,%f)\n",path.p[path.numPoints-1].x,path.p[path.numPoints-1].y);
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  for(i = 1;i < path.numPoints;i++) {
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    float d = sqrt((path.p[i-1].x-path.p[i].x)*(path.p[i-1].x-path.p[i].x)+
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		   (path.p[i-1].y-path.p[i].y)*(path.p[i-1].y-path.p[i].y));
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    //printf("d = %f dist = %f/%f\n",d,dist,interval);
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    while(dist + d > interval) {
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      points[numPoints].x = path.p[i-1].x + 
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	((interval-dist)/d)*(path.p[i].x-path.p[i-1].x);
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      points[numPoints].y = path.p[i-1].y + 
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	((interval-dist)/d)*(path.p[i].y-path.p[i-1].y);
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      centroid.x += points[numPoints].x;
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      centroid.y += points[numPoints].y;
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      numPoints++;
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      dist -= interval;
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    }
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    dist += d;
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  }
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  if(numPoints < 1) return 0;
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  centroid.x /= numPoints;
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  centroid.y /= numPoints;
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  //printf("Centroid (%f,%f)",centroid.x,centroid.y);
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  //Rotate Points so point 0 is left of centroid and solve for the bounding box
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  float xmin,xmax,ymin,ymax;
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  xmin = centroid.x;
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  xmax = centroid.x;
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  ymin = centroid.y;
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  ymax = centroid.y;
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  float ang = atan2(centroid.y - points[0].y,
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		    centroid.x - points[0].x);
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  for(i = 0;i<numPoints;i++) {					       
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    float px = points[i].x;
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    float py = points[i].y;
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    points[i].x = (px - centroid.x)*cos(ang) - 
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                  (py - centroid.y)*sin(ang) + centroid.x;
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    points[i].y = (px - centroid.x)*sin(ang) + 
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                  (py - centroid.y)*cos(ang) + centroid.y;
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    if(points[i].x < xmin) xmin = points[i].x;
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    if(points[i].x > xmax) xmax = points[i].x; 
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    if(points[i].y < ymin) ymin = points[i].y;
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    if(points[i].y > ymax) ymax = points[i].y;
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  }
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  //Scale points to DOLLARSIZE, and translate to the origin
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  float w = xmax-xmin;
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  float h = ymax-ymin;
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  for(i=0;i<numPoints;i++) {
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    points[i].x = (points[i].x - centroid.x)*DOLLARSIZE/w;
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    points[i].y = (points[i].y - centroid.y)*DOLLARSIZE/h;
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  }  
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  return numPoints;
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}
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int SDL_GestureAddTouch(SDL_Touch* touch) { 
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  if(numGestureTouches >= MAXTOUCHES) return -1;
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  gestureTouch[numGestureTouches].res.x = touch->xres;
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  gestureTouch[numGestureTouches].res.y = touch->yres;
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  gestureTouch[numGestureTouches].numDownFingers = 0;
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  gestureTouch[numGestureTouches].res.x = touch->xres;
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  gestureTouch[numGestureTouches].id = touch->id;
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  gestureTouch[numGestureTouches].numDollarTemplates = 0;
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  numGestureTouches++;
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  return 0;
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}
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GestureTouch * SDL_GetGestureTouch(int id) {
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  int i;
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  for(i = 0;i < numGestureTouches; i++) {
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    //printf("%i ?= %i\n",gestureTouch[i].id,id);
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    if(gestureTouch[i].id == id) return &gestureTouch[i];
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  }
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  return NULL;
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}
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int SDL_SendGestureMulti(GestureTouch* touch,float dTheta,float dDist) {
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  SDL_Event event;
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  event.mgesture.type = SDL_MULTIGESTURE;
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  event.mgesture.touchId = touch->id;
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  event.mgesture.x = touch->centroid.x;
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  event.mgesture.y = touch->centroid.y;
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  event.mgesture.dTheta = dTheta;
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  event.mgesture.dDist = dDist;  
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  return SDL_PushEvent(&event) > 0;
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}
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int SDL_SendGestureDollar(GestureTouch* touch,int gestureId,float error) {
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  SDL_Event event;
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  event.dgesture.type = SDL_DOLLARGESTURE;
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  event.dgesture.touchId = touch->id;
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  /*
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    //TODO: Add this to give location of gesture?
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  event.mgesture.x = touch->centroid.x;
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  event.mgesture.y = touch->centroid.y;
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  */
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  event.dgesture.gestureId = gestureId;
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  event.dgesture.error = error;  
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  return SDL_PushEvent(&event) > 0;
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}
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void SDL_GestureProcessEvent(SDL_Event* event)
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{
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  if(event->type == SDL_FINGERMOTION || 
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     event->type == SDL_FINGERDOWN ||
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     event->type == SDL_FINGERUP) {
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    GestureTouch* inTouch = SDL_GetGestureTouch(event->tfinger.touchId);
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    //Shouldn't be possible
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    if(inTouch == NULL) return;
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    float x = ((float)event->tfinger.x)/inTouch->res.x;
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    float y = ((float)event->tfinger.y)/inTouch->res.y;
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    int j,empty = -1;
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    for(j = 0;j<inTouch->numDownFingers;j++) {
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      if(inTouch->gestureLast[j].f.id != event->tfinger.fingerId) continue;
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      if(event->type == SDL_FINGERUP) {
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	inTouch->numDownFingers--;
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	int bestTempl;
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	float error;
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	error = dollarRecognize(inTouch->gestureLast[j].dollarPath,
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				&bestTempl,inTouch);
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	if(bestTempl >= 0){
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	  //Send Event
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	  int gestureId = 0; //?
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	  SDL_SendGestureDollar(inTouch->id,gestureId,error);
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	  printf("Dollar error: %f\n",error);
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	}
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	inTouch->gestureLast[j] = inTouch->gestureLast[inTouch->numDownFingers];
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	break;
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      }
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      else {
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	float dx = x - inTouch->gestureLast[j].f.p.x;
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	float dy = y - inTouch->gestureLast[j].f.p.y;
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	DollarPath* path = &inTouch->gestureLast[j].dollarPath;
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	if(path->numPoints < MAXPATHSIZE) {
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	  path->p[path->numPoints].x = x;
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	  path->p[path->numPoints].y = y;
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	  path->length += sqrt(dx*dx + dy*dy);
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	  path->numPoints++;
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	}
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	inTouch->centroid.x += dx/inTouch->numDownFingers;
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	inTouch->centroid.y += dy/inTouch->numDownFingers;    
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	if(inTouch->numDownFingers > 1) {
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	  Point lv; //Vector from centroid to last x,y position
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	  Point v; //Vector from centroid to current x,y position
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	  lv = inTouch->gestureLast[j].cv;
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	  float lDist = sqrt(lv.x*lv.x + lv.y*lv.y);
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	  //printf("lDist = %f\n",lDist);
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	  v.x = x - inTouch->centroid.x;
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	  v.y = y - inTouch->centroid.y;
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	  inTouch->gestureLast[j].cv = v;
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	  float Dist = sqrt(v.x*v.x+v.y*v.y);
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	  // cos(dTheta) = (v . lv)/(|v| * |lv|)
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   342
	  
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	  //Normalize Vectors to simplify angle calculation
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	  lv.x/=lDist;
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	  lv.y/=lDist;
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	  v.x/=Dist;
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	  v.y/=Dist;
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   348
	  float dtheta = atan2(lv.x*v.y - lv.y*v.x,lv.x*v.x + lv.y*v.y);
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   349
	  
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   350
	  float dDist = (Dist - lDist);
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   351
	  if(lDist == 0) {dDist = 0;dtheta = 0;} //To avoid impossible values
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	  inTouch->gestureLast[j].dDist = dDist;
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   353
	  inTouch->gestureLast[j].dtheta = dtheta;
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   354
	  
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   355
	  //printf("dDist = %f, dTheta = %f\n",dDist,dtheta);
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   356
	  //gdtheta = gdtheta*.9 + dtheta*.1;
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   357
	  //gdDist  =  gdDist*.9 +  dDist*.1
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   358
	  //knob.r += dDist/numDownFingers;
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   359
	  //knob.ang += dtheta;
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   360
	  //printf("thetaSum = %f, distSum = %f\n",gdtheta,gdDist);
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   361
	  //printf("id: %i dTheta = %f, dDist = %f\n",j,dtheta,dDist);
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   362
	  SDL_SendGestureMulti(inTouch,dtheta,dDist);
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diff changeset
   363
	}
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   364
	else {
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   365
	  inTouch->gestureLast[j].dDist = 0;
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   366
	  inTouch->gestureLast[j].dtheta = 0;
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   367
	  inTouch->gestureLast[j].cv.x = 0;
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   368
	  inTouch->gestureLast[j].cv.y = 0;
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   369
	}
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   370
	inTouch->gestureLast[j].f.p.x = x;
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   371
	inTouch->gestureLast[j].f.p.y = y;
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   372
	break;
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   373
	//pressure?
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   374
      }      
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   375
    }
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   376
    
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   377
    if(j == inTouch->numDownFingers) {
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   378
      //printf("Finger Down!!!\n");
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   379
      inTouch->numDownFingers++;
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   380
      inTouch->centroid.x = (inTouch->centroid.x*(inTouch->numDownFingers - 1)+ 
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   381
			     x)/inTouch->numDownFingers;
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   382
      inTouch->centroid.y = (inTouch->centroid.y*(inTouch->numDownFingers - 1)+
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   383
			     y)/inTouch->numDownFingers;
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diff changeset
   384
      
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   385
      inTouch->gestureLast[j].f.id = event->tfinger.fingerId;
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   386
      inTouch->gestureLast[j].f.p.x  = x;
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diff changeset
   387
      inTouch->gestureLast[j].f.p.y  = y;	
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   388
      inTouch->gestureLast[j].cv.x = 0;
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   389
      inTouch->gestureLast[j].cv.y = 0;
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   390
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   391
      inTouch->gestureLast[j].dollarPath.length = 0;
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   392
      inTouch->gestureLast[j].dollarPath.p[0].x = x;
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   393
      inTouch->gestureLast[j].dollarPath.p[0].y = y;
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   394
      inTouch->gestureLast[j].dollarPath.numPoints = 1;
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diff changeset
   395
    }
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diff changeset
   396
  }
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diff changeset
   397
}  
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diff changeset
   398
  
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diff changeset
   399
  /* vi: set ts=4 sw=4 expandtab: */
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   400