SDL_gesture.c

/*
  Simple DirectMedia Layer
  Copyright (C) 1997-2011 Sam Lantinga <slouken@libsdl.org>

  This software is provided 'as-is', without any express or implied
  warranty.  In no event will the authors be held liable for any damages
  arising from the use of this software.

  Permission is granted to anyone to use this software for any purpose,
  including commercial applications, and to alter it and redistribute it
  freely, subject to the following restrictions:

  1. The origin of this software must not be misrepresented; you must not
     claim that you wrote the original software. If you use this software
     in a product, an acknowledgment in the product documentation would be
     appreciated but is not required.
  2. Altered source versions must be plainly marked as such, and must not be
     misrepresented as being the original software.
  3. This notice may not be removed or altered from any source distribution.
*/

#include "SDL_config.h"

/* General mouse handling code for SDL */

#include "SDL_events.h"
#include "SDL_events_c.h"
#include "SDL_gesture_c.h"

#include <memory.h>
#include <string.h>
#include <stdio.h>
#include <math.h>

//TODO: Replace with malloc

#define MAXPATHSIZE 1024

 


#define DOLLARNPOINTS 64
#define DOLLARSIZE 256

#define ENABLE_DOLLAR

#define PHI 0.618033989 

typedef struct {
  float x,y;
} SDL_FloatPoint;

typedef struct {
  float length;
  
  int numPoints;
  SDL_FloatPoint p[MAXPATHSIZE];
} SDL_DollarPath;

typedef struct {
  SDL_FloatPoint path[DOLLARNPOINTS];
  unsigned long hash;
} SDL_DollarTemplate;

typedef struct {
  SDL_GestureID id;
  SDL_FloatPoint res;
  SDL_FloatPoint centroid;
  SDL_DollarPath dollarPath;
  Uint16 numDownFingers;

  int numDollarTemplates;
  SDL_DollarTemplate *dollarTemplate;

  SDL_bool recording;
} SDL_GestureTouch;

SDL_GestureTouch *SDL_gestureTouch;
int SDL_numGestureTouches = 0;
SDL_bool recordAll;

#if 0
static void PrintPath(SDL_FloatPoint *path) {
  int i;
  printf("Path:");
  for(i=0;i<DOLLARNPOINTS;i++) {
    printf(" (%f,%f)",path[i].x,path[i].y);
  }
  printf("\n");
}
#endif

int SDL_RecordGesture(SDL_TouchID touchId) {
  int i;
  if(touchId < 0) recordAll = SDL_TRUE;
  for(i = 0;i < SDL_numGestureTouches; i++) {
    if((touchId < 0) || (SDL_gestureTouch[i].id == touchId)) {
      SDL_gestureTouch[i].recording = SDL_TRUE;
      if(touchId >= 0)
        return 1;
    }      
  }
  return (touchId < 0);
}

unsigned long SDL_HashDollar(SDL_FloatPoint* points) {
  unsigned long hash = 5381;
  int i;
  for(i = 0;i < DOLLARNPOINTS; i++) { 
    hash = ((hash<<5) + hash) + (unsigned long)points[i].x;
    hash = ((hash<<5) + hash) + (unsigned long)points[i].y;
  }
  return hash;
}


static int SaveTemplate(SDL_DollarTemplate *templ, SDL_RWops * src) {
  if(src == NULL) return 0;

  
  //No Longer storing the Hash, rehash on load
  //if(SDL_RWops.write(src,&(templ->hash),sizeof(templ->hash),1) != 1) return 0;
  
  if(SDL_RWwrite(src,templ->path,
                 sizeof(templ->path[0]),DOLLARNPOINTS) != DOLLARNPOINTS) 
    return 0;

  return 1;
}


int SDL_SaveAllDollarTemplates(SDL_RWops *src) {  
  int i,j,rtrn = 0;
  for(i = 0; i < SDL_numGestureTouches; i++) {
    SDL_GestureTouch* touch = &SDL_gestureTouch[i];
    for(j = 0;j < touch->numDollarTemplates; j++) {
        rtrn += SaveTemplate(&touch->dollarTemplate[i],src);
    }
  }
  return rtrn;  
}

int SDL_SaveDollarTemplate(SDL_GestureID gestureId, SDL_RWops *src) {
  int i,j;
  for(i = 0; i < SDL_numGestureTouches; i++) {
    SDL_GestureTouch* touch = &SDL_gestureTouch[i];
    for(j = 0;j < touch->numDollarTemplates; j++) {
      if(touch->dollarTemplate[i].hash == gestureId) {
        return SaveTemplate(&touch->dollarTemplate[i],src);
      }
    }
  }
  SDL_SetError("Unknown gestureId");
  return -1;
}

//path is an already sampled set of points
//Returns the index of the gesture on success, or -1
static int SDL_AddDollarGesture(SDL_GestureTouch* inTouch,SDL_FloatPoint* path) {
  SDL_DollarTemplate* dollarTemplate;
  SDL_DollarTemplate *templ;
  int i = 0;
  if(inTouch == NULL) {
    if(SDL_numGestureTouches == 0) return -1;
    for(i = 0;i < SDL_numGestureTouches; i++) {
      inTouch = &SDL_gestureTouch[i];

    dollarTemplate = 
        (SDL_DollarTemplate *)SDL_realloc(inTouch->dollarTemplate,
                    (inTouch->numDollarTemplates + 1) * 
                    sizeof(SDL_DollarTemplate));
      if(!dollarTemplate) {
        SDL_OutOfMemory();
        return -1;
      }
        
      inTouch->dollarTemplate = dollarTemplate;

    templ = 
        &inTouch->dollarTemplate[inTouch->numDollarTemplates];
      SDL_memcpy(templ->path,path,DOLLARNPOINTS*sizeof(SDL_FloatPoint));
      templ->hash = SDL_HashDollar(templ->path);
      inTouch->numDollarTemplates++;    
    }
    return inTouch->numDollarTemplates - 1;
  } else {
    SDL_DollarTemplate* dollarTemplate = 
      ( SDL_DollarTemplate *)SDL_realloc(inTouch->dollarTemplate,
                  (inTouch->numDollarTemplates + 1) * 
                  sizeof(SDL_DollarTemplate));
    if(!dollarTemplate) {
      SDL_OutOfMemory();
      return -1;
    }
    
    inTouch->dollarTemplate = dollarTemplate;

    templ = 
      &inTouch->dollarTemplate[inTouch->numDollarTemplates];
    SDL_memcpy(templ->path,path,DOLLARNPOINTS*sizeof(SDL_FloatPoint));
    templ->hash = SDL_HashDollar(templ->path);
    inTouch->numDollarTemplates++;
    return inTouch->numDollarTemplates - 1;
  }
  return -1;
}

int SDL_LoadDollarTemplates(SDL_TouchID touchId, SDL_RWops *src) {
  int i,loaded = 0;
  SDL_GestureTouch *touch = NULL;
  if(src == NULL) return 0;
  if(touchId >= 0) {
    for(i = 0;i < SDL_numGestureTouches; i++)
      if(SDL_gestureTouch[i].id == touchId)
        touch = &SDL_gestureTouch[i];
    if(touch == NULL) return -1;
  }

  while(1) {
    SDL_DollarTemplate templ;

    if(SDL_RWread(src,templ.path,sizeof(templ.path[0]),DOLLARNPOINTS) < 
       DOLLARNPOINTS) break;

    if(touchId >= 0) {
      //printf("Adding loaded gesture to 1 touch\n");
      if(SDL_AddDollarGesture(touch,templ.path)) loaded++;
    }
    else {
      //printf("Adding to: %i touches\n",SDL_numGestureTouches);
      for(i = 0;i < SDL_numGestureTouches; i++) {
        touch = &SDL_gestureTouch[i];
        //printf("Adding loaded gesture to + touches\n");
        //TODO: What if this fails?
        SDL_AddDollarGesture(touch,templ.path);        
      }
      loaded++;
    }
  }

  return loaded; 
}


float dollarDifference(SDL_FloatPoint* points,SDL_FloatPoint* templ,float ang) {
  //  SDL_FloatPoint p[DOLLARNPOINTS];
  float dist = 0;
  SDL_FloatPoint p;
  int i;
  for(i = 0; i < DOLLARNPOINTS; i++) {
    p.x = (float)(points[i].x * SDL_cos(ang) - points[i].y * SDL_sin(ang));
    p.y = (float)(points[i].x * SDL_sin(ang) + points[i].y * SDL_cos(ang));
    dist += (float)(SDL_sqrt((p.x-templ[i].x)*(p.x-templ[i].x)+
                 (p.y-templ[i].y)*(p.y-templ[i].y)));
  }
  return dist/DOLLARNPOINTS;
  
}

float bestDollarDifference(SDL_FloatPoint* points,SDL_FloatPoint* templ) {
  //------------BEGIN DOLLAR BLACKBOX----------------//
  //-TRANSLATED DIRECTLY FROM PSUDEO-CODE AVAILABLE AT-//
  //-"http://depts.washington.edu/aimgroup/proj/dollar/"-//
  double ta = -M_PI/4;
  double tb = M_PI/4;
  double dt = M_PI/90;
  float x1 = (float)(PHI*ta + (1-PHI)*tb);
  float f1 = dollarDifference(points,templ,x1);
  float x2 = (float)((1-PHI)*ta + PHI*tb);
  float f2 = dollarDifference(points,templ,x2);
  while(SDL_fabs(ta-tb) > dt) {
    if(f1 < f2) {
      tb = x2;
      x2 = x1;
      f2 = f1;
      x1 = (float)(PHI*ta + (1-PHI)*tb);
      f1 = dollarDifference(points,templ,x1);
    }
    else {
      ta = x1;
      x1 = x2;
      f1 = f2;
      x2 = (float)((1-PHI)*ta + PHI*tb);
      f2 = dollarDifference(points,templ,x2);
    }
  }
  /*
  if(f1 <= f2)
    printf("Min angle (x1): %f\n",x1);
  else if(f1 >  f2)
    printf("Min angle (x2): %f\n",x2);
  */
  return SDL_min(f1,f2);  
}

//DollarPath contains raw points, plus (possibly) the calculated length
int dollarNormalize(const SDL_DollarPath *path,SDL_FloatPoint *points) {
  int i;
  float interval;
  float dist;
  int numPoints = 0;
  SDL_FloatPoint centroid; 
  float xmin,xmax,ymin,ymax;
  float ang;
  float w,h;
  float length = path->length;

  //Calculate length if it hasn't already been done
  if(length <= 0) {
    for(i=1;i<path->numPoints;i++) {
      float dx = path->p[i  ].x - 
                 path->p[i-1].x;
      float dy = path->p[i  ].y - 
                 path->p[i-1].y;
      length += (float)(SDL_sqrt(dx*dx+dy*dy));
    }
  }

  //Resample
  interval = length/(DOLLARNPOINTS - 1);
  dist = interval;

  centroid.x = 0;centroid.y = 0;
  
  //printf("(%f,%f)\n",path->p[path->numPoints-1].x,path->p[path->numPoints-1].y);
  for(i = 1;i < path->numPoints;i++) {
    float d = (float)(SDL_sqrt((path->p[i-1].x-path->p[i].x)*(path->p[i-1].x-path->p[i].x)+
                             (path->p[i-1].y-path->p[i].y)*(path->p[i-1].y-path->p[i].y)));
    //printf("d = %f dist = %f/%f\n",d,dist,interval);
    while(dist + d > interval) {
      points[numPoints].x = path->p[i-1].x + 
        ((interval-dist)/d)*(path->p[i].x-path->p[i-1].x);
      points[numPoints].y = path->p[i-1].y + 
        ((interval-dist)/d)*(path->p[i].y-path->p[i-1].y);
      centroid.x += points[numPoints].x;
      centroid.y += points[numPoints].y;
      numPoints++;

      dist -= interval;
    }
    dist += d;
  }
  if(numPoints < DOLLARNPOINTS-1) {
    SDL_SetError("ERROR: NumPoints = %i\n",numPoints); 
    return 0;
  }
  //copy the last point
  points[DOLLARNPOINTS-1] = path->p[path->numPoints-1];
  numPoints = DOLLARNPOINTS;

  centroid.x /= numPoints;
  centroid.y /= numPoints;
 
  //printf("Centroid (%f,%f)",centroid.x,centroid.y);
  //Rotate Points so point 0 is left of centroid and solve for the bounding box
  xmin = centroid.x;
  xmax = centroid.x;
  ymin = centroid.y;
  ymax = centroid.y;
  
  ang = (float)(SDL_atan2(centroid.y - points[0].y,
                    centroid.x - points[0].x));

  for(i = 0;i<numPoints;i++) {                                               
    float px = points[i].x;
    float py = points[i].y;
    points[i].x = (float)((px - centroid.x)*SDL_cos(ang) - 
                  (py - centroid.y)*SDL_sin(ang) + centroid.x);
    points[i].y = (float)((px - centroid.x)*SDL_sin(ang) + 
                  (py - centroid.y)*SDL_cos(ang) + centroid.y);


    if(points[i].x < xmin) xmin = points[i].x;
    if(points[i].x > xmax) xmax = points[i].x; 
    if(points[i].y < ymin) ymin = points[i].y;
    if(points[i].y > ymax) ymax = points[i].y;
  }

  //Scale points to DOLLARSIZE, and translate to the origin
  w = xmax-xmin;
  h = ymax-ymin;

  for(i=0;i<numPoints;i++) {
    points[i].x = (points[i].x - centroid.x)*DOLLARSIZE/w;
    points[i].y = (points[i].y - centroid.y)*DOLLARSIZE/h;
  }  
  return numPoints;
}

float dollarRecognize(const SDL_DollarPath *path,int *bestTempl,SDL_GestureTouch* touch) {
        
        SDL_FloatPoint points[DOLLARNPOINTS];
        int numPoints = dollarNormalize(path,points);
        int i;
        float bestDiff = 10000;

        //PrintPath(points);
        *bestTempl = -1;
        for(i = 0;i < touch->numDollarTemplates;i++) {
                float diff = bestDollarDifference(points,touch->dollarTemplate[i].path);
                if(diff < bestDiff) {bestDiff = diff; *bestTempl = i;}
        }
        return bestDiff;
}

int SDL_GestureAddTouch(SDL_Touch* touch) {  
  SDL_GestureTouch *gestureTouch = (SDL_GestureTouch *)SDL_realloc(SDL_gestureTouch,
                                               (SDL_numGestureTouches + 1) *
                                               sizeof(SDL_GestureTouch));

  if(!gestureTouch) {
    SDL_OutOfMemory();
    return -1;
  }

  SDL_gestureTouch = gestureTouch;

  SDL_gestureTouch[SDL_numGestureTouches].res.x = touch->xres;
  SDL_gestureTouch[SDL_numGestureTouches].res.y = touch->yres;
  SDL_gestureTouch[SDL_numGestureTouches].numDownFingers = 0;

  SDL_gestureTouch[SDL_numGestureTouches].res.x = touch->xres;
  SDL_gestureTouch[SDL_numGestureTouches].id = touch->id;

  SDL_gestureTouch[SDL_numGestureTouches].numDollarTemplates = 0;

  SDL_gestureTouch[SDL_numGestureTouches].recording = SDL_FALSE;

  SDL_numGestureTouches++;
  return 0;
}

int SDL_GestureRemoveTouch(SDL_TouchID id) {
  int i;
  for (i = 0; i < SDL_numGestureTouches; i++) {
    if (SDL_gestureTouch[i].id == id) {
      SDL_numGestureTouches--;
      SDL_memcpy(&SDL_gestureTouch[i], &SDL_gestureTouch[SDL_numGestureTouches], sizeof(SDL_gestureTouch[i]));
      return 1;
    }
  }
  return -1;
}


SDL_GestureTouch * SDL_GetGestureTouch(SDL_TouchID id) {
  int i;
  for(i = 0;i < SDL_numGestureTouches; i++) {
    //printf("%i ?= %i\n",SDL_gestureTouch[i].id,id);
    if(SDL_gestureTouch[i].id == id) return &SDL_gestureTouch[i];
  }
  return NULL;
}

int SDL_SendGestureMulti(SDL_GestureTouch* touch,float dTheta,float dDist) {
  SDL_Event event;
  event.mgesture.type = SDL_MULTIGESTURE;
  event.mgesture.touchId = touch->id;
  event.mgesture.x = touch->centroid.x;
  event.mgesture.y = touch->centroid.y;
  event.mgesture.dTheta = dTheta;
  event.mgesture.dDist = dDist;  
  event.mgesture.numFingers = touch->numDownFingers;
  return SDL_PushEvent(&event) > 0;
}

int SDL_SendGestureDollar(SDL_GestureTouch* touch,
                          SDL_GestureID gestureId,float error) {
  SDL_Event event;
  event.dgesture.type = SDL_DOLLARGESTURE;
  event.dgesture.touchId = touch->id;
  /*
    //TODO: Add this to give location of gesture?
  event.mgesture.x = touch->centroid.x;
  event.mgesture.y = touch->centroid.y;
  */
  event.dgesture.gestureId = gestureId;
  event.dgesture.error = error;  
  //A finger came up to trigger this event.
  event.dgesture.numFingers = touch->numDownFingers + 1; 
  return SDL_PushEvent(&event) > 0;
}


int SDL_SendDollarRecord(SDL_GestureTouch* touch,SDL_GestureID gestureId) {
  SDL_Event event;
  event.dgesture.type = SDL_DOLLARRECORD;
  event.dgesture.touchId = touch->id;
  event.dgesture.gestureId = gestureId;
  return SDL_PushEvent(&event) > 0;
}


void SDL_GestureProcessEvent(SDL_Event* event)
{
  float x,y; 
  SDL_FloatPoint path[DOLLARNPOINTS];
  int index;
  int i;
  float pathDx, pathDy;
  SDL_FloatPoint lastP;
  SDL_FloatPoint lastCentroid;
  float lDist;
  float Dist;
  float dtheta;
  float dDist;

  if(event->type == SDL_FINGERMOTION || 
     event->type == SDL_FINGERDOWN ||
     event->type == SDL_FINGERUP) {
    SDL_GestureTouch* inTouch = SDL_GetGestureTouch(event->tfinger.touchId);
    
    //Shouldn't be possible
    if(inTouch == NULL) return;
    
    //printf("@ (%i,%i) with res: (%i,%i)\n",(int)event->tfinger.x,
    //           (int)event->tfinger.y,
    //   (int)inTouch->res.x,(int)inTouch->res.y);

    
    x = ((float)event->tfinger.x)/(float)inTouch->res.x;
    y = ((float)event->tfinger.y)/(float)inTouch->res.y;   


    //Finger Up
    if(event->type == SDL_FINGERUP) {
      inTouch->numDownFingers--;
      
#ifdef ENABLE_DOLLAR
      if(inTouch->recording) {
        inTouch->recording = SDL_FALSE;        
        dollarNormalize(&inTouch->dollarPath,path);
        //PrintPath(path);
        if(recordAll) {
          index = SDL_AddDollarGesture(NULL,path);
          for(i = 0;i < SDL_numGestureTouches; i++)
            SDL_gestureTouch[i].recording = SDL_FALSE;
        }
        else {
          index = SDL_AddDollarGesture(inTouch,path);
        }
        
        if(index >= 0) {
          SDL_SendDollarRecord(inTouch,inTouch->dollarTemplate[index].hash);
        }
        else {
          SDL_SendDollarRecord(inTouch,-1);
        }
      }
      else {        
        int bestTempl;
        float error;
        error = dollarRecognize(&inTouch->dollarPath,
                                &bestTempl,inTouch);
        if(bestTempl >= 0){
          //Send Event
          unsigned long gestureId = inTouch->dollarTemplate[bestTempl].hash;
          SDL_SendGestureDollar(inTouch,gestureId,error);
          //printf ("%s\n",);("Dollar error: %f\n",error);
        }
      }
#endif 
      //inTouch->gestureLast[j] = inTouch->gestureLast[inTouch->numDownFingers];
      if(inTouch->numDownFingers > 0) {
        inTouch->centroid.x = (inTouch->centroid.x*(inTouch->numDownFingers+1)-
                               x)/inTouch->numDownFingers;
        inTouch->centroid.y = (inTouch->centroid.y*(inTouch->numDownFingers+1)-
                               y)/inTouch->numDownFingers;
      }
    }
    else if(event->type == SDL_FINGERMOTION) {
      float dx = ((float)event->tfinger.dx)/(float)inTouch->res.x;
      float dy = ((float)event->tfinger.dy)/(float)inTouch->res.y;
      //printf("dx,dy: (%f,%f)\n",dx,dy); 
#ifdef ENABLE_DOLLAR
      SDL_DollarPath* path = &inTouch->dollarPath;
      if(path->numPoints < MAXPATHSIZE) {
        path->p[path->numPoints].x = inTouch->centroid.x;
        path->p[path->numPoints].y = inTouch->centroid.y;
        pathDx = 
          (path->p[path->numPoints].x-path->p[path->numPoints-1].x);
        pathDy = 
          (path->p[path->numPoints].y-path->p[path->numPoints-1].y);
        path->length += (float)SDL_sqrt(pathDx*pathDx + pathDy*pathDy);
        path->numPoints++;
      }
#endif
      lastP.x = x - dx;
      lastP.y = y - dy;
      lastCentroid = inTouch->centroid;
      
      inTouch->centroid.x += dx/inTouch->numDownFingers;
      inTouch->centroid.y += dy/inTouch->numDownFingers;
      //printf("Centrid : (%f,%f)\n",inTouch->centroid.x,inTouch->centroid.y);
      if(inTouch->numDownFingers > 1) {
        SDL_FloatPoint lv; //Vector from centroid to last x,y position
        SDL_FloatPoint v; //Vector from centroid to current x,y position
        //lv = inTouch->gestureLast[j].cv;
        lv.x = lastP.x - lastCentroid.x;
        lv.y = lastP.y - lastCentroid.y;
        lDist = (float)SDL_sqrt(lv.x*lv.x + lv.y*lv.y);
        //printf("lDist = %f\n",lDist);
        v.x = x - inTouch->centroid.x;
        v.y = y - inTouch->centroid.y;
        //inTouch->gestureLast[j].cv = v;
        Dist = (float)SDL_sqrt(v.x*v.x+v.y*v.y);
        // SDL_cos(dTheta) = (v . lv)/(|v| * |lv|)
        
        //Normalize Vectors to simplify angle calculation
        lv.x/=lDist;
        lv.y/=lDist;
        v.x/=Dist;
        v.y/=Dist;
        dtheta = (float)SDL_atan2(lv.x*v.y - lv.y*v.x,lv.x*v.x + lv.y*v.y);
        
        dDist = (Dist - lDist);
        if(lDist == 0) {dDist = 0;dtheta = 0;} //To avoid impossible values
        
        //inTouch->gestureLast[j].dDist = dDist;
        //inTouch->gestureLast[j].dtheta = dtheta;
        
        //printf("dDist = %f, dTheta = %f\n",dDist,dtheta);
        //gdtheta = gdtheta*.9 + dtheta*.1;
        //gdDist  =  gdDist*.9 +  dDist*.1
        //knob.r += dDist/numDownFingers;
        //knob.ang += dtheta;
        //printf("thetaSum = %f, distSum = %f\n",gdtheta,gdDist);
        //printf("id: %i dTheta = %f, dDist = %f\n",j,dtheta,dDist);
        SDL_SendGestureMulti(inTouch,dtheta,dDist);
      }
      else {
        //inTouch->gestureLast[j].dDist = 0;
        //inTouch->gestureLast[j].dtheta = 0;
        //inTouch->gestureLast[j].cv.x = 0;
        //inTouch->gestureLast[j].cv.y = 0;
      }
      //inTouch->gestureLast[j].f.p.x = x;
      //inTouch->gestureLast[j].f.p.y = y;
      //break;
      //pressure?
    }
    
    if(event->type == SDL_FINGERDOWN) {

      inTouch->numDownFingers++;
      inTouch->centroid.x = (inTouch->centroid.x*(inTouch->numDownFingers - 1)+ 
                             x)/inTouch->numDownFingers;
      inTouch->centroid.y = (inTouch->centroid.y*(inTouch->numDownFingers - 1)+
                             y)/inTouch->numDownFingers;
      //printf("Finger Down: (%f,%f). Centroid: (%f,%f\n",x,y,
      //     inTouch->centroid.x,inTouch->centroid.y);

#ifdef ENABLE_DOLLAR
      inTouch->dollarPath.length = 0;
      inTouch->dollarPath.p[0].x = x;
      inTouch->dollarPath.p[0].y = y;
      inTouch->dollarPath.numPoints = 1;
#endif
    }
  }
}

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