kopia lustrzana https://github.com/FreeSpacenav/libspnav
updated readme, added documentation links
John Tsiombikas
rodzic
6693918c92
commit
7a6371ee41
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@ -11,3 +11,4 @@ examples/fly/fly
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examples/simple/simple_af_unix
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examples/simple/simple_x11
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spnav.pc
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doc/manual.html
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61
README.md
61
README.md
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@ -3,30 +3,65 @@ libspnav
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About
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-----
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Libspnav is a C library for receiving input from 6 degrees-of-freedom (6dof)
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input devices, also known as spacemice, spaceballs, etc. 6dof input is very
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useful for fluidly manipulating objects or viewpoints in 3D space, and
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fundamendally comprises of relative movement (translation) across 3 axes
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(TX/TY/TZ), and rotation about 3 axes (RX/RY/RZ).
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The libspnav library is provided as a replacement of the magellan library. It
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provides a cleaner, and more orthogonal interface. libspnav supports both the
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original X11 protocol for communicating with the driver, and the new
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alternative non-X protocol. Programs that choose to use the X11 protocol, are
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automatically compatible with either the free spacenavd driver or the official
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3dxserv, as if they were using the magellan SDK.
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Libspnav is a counterpart to the free spacenav driver (spacenavd), which runs as
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a system daemon, and handles all the low level interfacing with the actual
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devices. However, it can also communicate with the proprietary 3Dconnexion
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driver (3dxsrv), with reduced functionality.
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Also, libspnav provides a magellan API wrapper on top of the new API. So, any
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applications that were using the magellan library, can switch to libspnav
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without any changes. And programmers that are familiar with the magellan API
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can continue using it with a free library without the restrictions of the
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official SDK.
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There are two modes of operation supported by libspnav:
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1. It can use the native spacenav protocol, which works over UNIX domain
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sockets, supports the whole feature set exposed by libspnav, but is only
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compatible with spacenavd. This is used when `spnav_open` is called to
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connect to the driver.
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2. It can use the X11 magellan protocol, based on X `ClientMessage` events,
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which is compatible with both spacenavd and the proprietary 3dxsrv, but
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only supports a limited subset of features. Basically just receiving input
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events and changing sensitivity, no queries, device information, or
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configuration management. This is used when `spnav_x11_open` is called to
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connect to the driver.
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Also, libspnav provides a magellan API wrapper on top of the libspnav API, which
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allows existing applications written for the official SDK to be transparently
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recompiled against libspnav and be free of the 3Dconnexion licensing conditions.
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Documentation
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-------------
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To learn how to use libspnav in your programs, refer to the [manual](doc/manual.md),
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which is available in markdown format under the `doc` directory of the libspnav
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distribution. The manual is also available online in HTML format on the free
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spacenav project website: http://spacenav.sourceforge.net/man_libspnav
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Also make sure to check out the example programs which come with libspnav under
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the `examples` directory.
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Installation
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------------
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To build and install libspnav, simply run:
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Configure, make, and make install as usual.
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./configure
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make
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make install
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Most likely the `make install` part will need to be executed as root, if you're
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installing libspnav system-wide, which is the common case
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(default prefix is: `/usr/local`).
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Running `./configure --help` prints available build options.
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License
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-------
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Copyright (C) 2007-2022 John Tsiombikas <nuclear@member.fsf.org>
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libspnav is free software. Feel free to use, modify, and/or redistibute it
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@ -0,0 +1,7 @@
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.PHONY: all
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all: manual.html
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%.html: %.md man_head.html
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cat man_head.html >$@
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markdown $< >>$@
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echo '</body></html>' >>$@
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@ -0,0 +1,6 @@
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<html>
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<head>
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<title>libspnav manual</title>
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<link rel="stylesheet" type="text/css" href="manual.css"/>
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</head>
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<body>
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@ -0,0 +1,87 @@
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body {
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background-color: #222;
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color: #ddd;
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font-family: "Palatino", Georgia, serif;
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max-width: 56em;
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padding: 1em;
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margin: 0 auto;
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font-size: 110%;
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}
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p {
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text-align: justify;
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}
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h1, h2 {
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font-family: sans-serif;
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/*text-shadow: 3px 3px 3px black;*/
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}
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/*img {
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display: block;
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margin: 0 auto;
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max-width: 100%;
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height: auto;
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}*/
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img.fullsize {
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max-width: initial;
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}
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img.inline {
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display: inline;
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}
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pre, code {
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background-color: #191919;
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color: #edb;
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font-size: 0.95em;
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font-family: noto mono, droid mono, monaco, consolas, fixed;
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}
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tt {
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color: #fff;
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font-size: 1.1em;
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}
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code .comment { color: #9db; }
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code .keyword { color: #d93; }
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code .literal.string { color: #d88; }
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a:link { color: #8af; }
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a:visited { color: #88f; }
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a:hover { color: #f8f; }
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a:active { color: #faf; }
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h1 { color: #db9; }
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h2 { color: #9bd; }
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h3 { color: #79b; }
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h4 { color: #bd9; }
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.center { text-align: center; }
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blockquote {
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border-radius: 1em;
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padding-left: 1em;
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padding-right: 1em;
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padding-top: 0.1em;
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padding-bottom: 0.1em;
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color: #aaa;
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background: #111;
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font-style: italic;
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}
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tr:nth-child(even) { background: #191919 }
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tr:nth-child(odd) { background: #222 }
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td {
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font-family: sans-serif;
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padding: 0.25em;
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}
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table {
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margin: 0 auto;
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}
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table.left {
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margin: 0 0;
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}
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127
doc/manual.md
127
doc/manual.md
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@ -47,6 +47,10 @@ development of spacenavd), and also since the magellan protocol introduces an
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unnecessary dependency to the X window system, and provides very rudimentary
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functionality, new applications are encouraged to use `spnav_open`.
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Also, libspnav provides a magellan API wrapper on top of the libspnav API, which
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allows existing applications written for the official SDK to be transparently
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recompiled against libspnav and be free of the 3Dconnexion licensing conditions.
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Quick start
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-----------
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Libspnav, as of version 1.0 has been expanded, but really most applications will
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@ -96,6 +100,12 @@ thread for it, you can simply wait for events like so:
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}
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}
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> Note that there is a set of helper utility functions provided by libspnav, for
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> accumulating motion inputs into a position vector and an orientation quaternion,
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> and for extracting a matrix from them suitable for manipulating 3D objects, or
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> for manipulating the view to fly through a 3D scene. See the "cube" and "fly"
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> example programs.
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Alternatively an application can check for new events without blocking, by
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calling `spnav_poll_event`. It's also worth noting that both functions work
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exactly the same regardless of which protocol is in use.
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@ -121,6 +131,9 @@ communication socket. This can be used in a regular `select` loop:
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}
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}
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> The "fly" example program also demonstrates how to integrate libspnav events
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> in a select loop, which is also handling X events coming from the Xlib socket.
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The level of functionality described in this section (minus the device queries),
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can be achieved and works exactly the same with both protocols. The only
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difference is in calling `spnav_open` for the native protocol, or calling
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@ -136,7 +149,7 @@ in detail.
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### Initialization and cleanup
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#### spnav_open
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#### spnav\_open
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Function prototype: `int spnav_open(void)`
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@ -148,7 +161,7 @@ set, use `spnav_x11_open` instead.
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Returns: 0 on success, -1 on failure.
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#### spnav_close
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#### spnav\_close
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Function prototype: `int spnav_close(void)`
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@ -156,7 +169,7 @@ Close the connection to the driver. No further events will be received.
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Returns: 0 on success, -1 on failure.
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#### spnav_fd
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#### spnav\_fd
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Function prototype: `int spnav_fd(void)`
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@ -170,7 +183,7 @@ been closed, -1 is returned.
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Returns: file descriptor on success, -1 on failure.
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#### spnav_x11_open
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#### spnav\_x11\_open
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Function prototype: `int spnav_x11_open(Display *dpy, Window win)`
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@ -180,7 +193,7 @@ by calling `spnav_x11_window`.
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Returns: 0 on success, -1 on failure.
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#### spnav_protocol
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#### spnav\_protocol
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Function prototype: `int spnav_protocol(void)`
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@ -192,7 +205,7 @@ Returns: protocol version on success, -1 on failure.
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### Application requests
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#### spnav_client_name
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#### spnav\_client\_name
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Function prototype: `int spnav_client_name(const char *name)`
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@ -202,7 +215,7 @@ protocol v1 or later.
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Returns: 0 on success, -1 on failure.
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#### spnav_evmask
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#### spnav\_evmask
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Function prototype: `int spnav_evmask(unsigned int mask)`
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@ -219,7 +232,7 @@ Event mask selection only works over the spacenav protocol v1 or later.
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Returns: 0 on success, -1 on failure.
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#### spnav_sensitivity
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#### spnav\_sensitivity
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Function prototype: `int spnav_sensitivity(double sens)`
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@ -228,7 +241,7 @@ to this application.
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Returns: 0 on success, -1 on failure.
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#### spnav_x11_window
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#### spnav\_x11\_window
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Function prototype: `int spnav_x11_window(Window win)`
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@ -240,7 +253,7 @@ Returns: 0 on success, -1 on failure.
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### Input events
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#### spnav_wait_event
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#### spnav\_wait\_event
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Function prototype: `int spnav_wait_event(spnav_event *ev)`
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@ -262,7 +275,7 @@ structures.
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Returns: non-zero when it successfully received an event, 0 on failure.
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#### spnav_poll_event
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#### spnav\_poll\_event
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Function prototype: `int spnav_poll_event(spnav_event *ev)`
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@ -273,7 +286,7 @@ See `spnav_wait_event` above for the definition of `spnav_event`.
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Returns: event type if an event is pending, 0 if there are no available events.
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#### spnav_remove_events
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#### spnav\_remove\_events
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Function prototype: `int spnav_remove_events(int type)`
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@ -282,7 +295,7 @@ Drops any pending events of the specified type, or all pending events if
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Returns: number of events removed from the queue.
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#### spnav_x11_event
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#### spnav\_x11\_event
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Function prototype: `int spnav_x11_event(const XEvent *xev, spnav_event *sev)`
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@ -299,7 +312,7 @@ The functions in this section only work over the native spacenav protocol v1 or
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later, and will fail if the connection is using the X11 magellan protocol, or
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the spacenav protocol v0 (spacenavd <= 0.8).
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#### spnav_dev_name
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#### spnav\_dev\_name
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Function prototype: `int spnav_dev_name(char *buf, int bufsz)`
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@ -318,7 +331,7 @@ following code:
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Returns: length of the device name, or -1 on failure.
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#### spnav_dev_path
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#### spnav\_dev\_path
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Function protoype: `int spnav_dev_path(char *buf, int bufsz)`
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@ -328,7 +341,7 @@ work in libspnav.
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Returns: length of the path string, or -1 on failure.
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#### spnav_dev_buttons
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#### spnav\_dev\_buttons
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Function prototype: `int spnav_dev_buttons(void)`
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@ -338,7 +351,7 @@ returned.
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Returns: number of device buttons, or 2 (default) on failure.
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#### spnav_dev_axes
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#### spnav\_dev\_axes
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Function prototype: `int spnav_dev_axes(void)`
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@ -348,7 +361,7 @@ returned.
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Returns: number of device axes, or 6 (default) on failure.
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#### spnav_dev_usbid
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#### spnav\_dev\_usbid
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Function prototype: `int spnav_dev_usbid(unsigned int *vendor, unsigned int *product)`
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@ -358,7 +371,7 @@ of if no device is detected.
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Returns: 0 on success, -1 on failure.
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#### spnav_dev_type
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#### spnav\_dev\_type
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Function prototype: `int spnav_dev_type(void)`
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@ -374,7 +387,7 @@ Returns: device type on success, -1 on failure.
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A number of helper utility functions for common tasks needed by most 3D programs
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using 6dof input.
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#### spnav_posrot_init
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#### spnav\_posrot\_init
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Function prototype: `void spnav_posrot_init(struct spnav_posrot *pr)`
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@ -390,7 +403,7 @@ contains a position vector, and a rotation quaternion:
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This function initializes the vector to 0, and the quaternion to an identity
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unit quaternion (1 + 0i + 0j + 0k), ready to start accumulating motion inputs.
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#### spnav_posrot_moveobj
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#### spnav\_posrot\_moveobj
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Function prototype: `void spnav_posrot_moveobj(struct spnav_posrot *pr, struct spnav_event_motion *ev)`
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@ -398,7 +411,7 @@ Apply position and rotation inputs from an spnav motion event, in a way suitable
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for manipulating a 3D object. Use in conjunction with `spnav_matrix_obj` to
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later extract a model matrix from the accumulated position/rotation.
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#### spnav_posrot_moveview
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#### spnav\_posrot\_moveview
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Function prototype: `void spnav_posrot_moveview(struct spnav_posrot *pr, struct spnav_event_motion *ev)`
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@ -407,7 +420,7 @@ for manipulating the view for flying through a 3D scene. Use in conjunction with
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`spnav_matrix_view` to later extract a view matrix from the accumulated
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position/rotation.
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#### spnav_matrix_obj
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#### spnav\_matrix\_obj
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Function prototype: `void spnav_matrix_obj(float *mat, struct spnav_posrot *pr)`
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@ -418,7 +431,7 @@ inputs.
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The first argument is a pointer to an array of 16 floats, where the matrix is
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written. The matrix is in the order expected by OpenGL.
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#### spnav_matrix_view
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#### spnav\_matrix\_view
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Function prototype: `void spnav_matrix_view(float *mat, struct spnav_posrot *pr)`
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@ -448,7 +461,7 @@ spacenavd configuration file, which is done by calling `spnav_cfg_save`.
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Finally these functions, similarly to the device queries above, only work over
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the native spacenav protocol v1 or later.
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#### spnav_cfg_reset
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#### spnav\_cfg\_reset
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Function prototype: `int spnav_cfg_reset(void)`
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@ -456,7 +469,7 @@ Reset all settings to their default values.
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Returns: 0 on success, -1 on failure.
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#### spnav_cfg_restore
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#### spnav\_cfg\_restore
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Function prototype: `int spnav_cfg_restore(void)`
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@ -465,7 +478,7 @@ values defined there.
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Returns: 0 on success, -1 on failure.
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#### spnav_cfg_save
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#### spnav\_cfg\_save
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Function prototype: `int spnav_cfg_save(void)`
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@ -474,7 +487,7 @@ required to make any changes perists across spacenavd restarts.
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Returns: 0 on success, -1 on failure.
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#### spnav_cfg_set_sens
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#### spnav\_cfg\_set\_sens
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Function prototype: `int spnav_cfg_set_sens(float s)`
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@ -482,7 +495,7 @@ Set the global sensitivity for all motion axes (default: 1.0).
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||||
Returns: 0 on success, -1 on failure.
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#### spnav_cfg_get_sens
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#### spnav\_cfg\_get\_sens
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Function prototype: `float spnav_cfg_get_sens(void)`
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||||
|
|
@ -490,7 +503,7 @@ Get the global sensitivity for all motion axes.
|
|||
|
||||
Returns: sensitivity on success, < 0.0 on failure
|
||||
|
||||
#### spnav_cfg_set_axis_sens
|
||||
#### spnav\_cfg\_set\_axis\_sens
|
||||
|
||||
Function prototype: `int spnav_cfg_set_axis_sens(const float *svec)`
|
||||
|
||||
|
|
@ -501,7 +514,7 @@ less than 1 decrease it.
|
|||
|
||||
Returns: 0 on success, -1 on failure.
|
||||
|
||||
#### spnav_cfg_get_axis_sens
|
||||
#### spnav\_cfg\_get\_axis\_sens
|
||||
|
||||
Function prototype: `int spnav_cfg_get_axis_sens(float *svec)`
|
||||
|
||||
|
|
@ -510,7 +523,7 @@ for all 6 input axes there.
|
|||
|
||||
Returns: 0 on success, -1 on failure.
|
||||
|
||||
#### spnav_cfg_set_invert
|
||||
#### spnav\_cfg\_set\_invert
|
||||
|
||||
Function prototype: `int spnav_cfg_set_invert(int invbits)`
|
||||
|
||||
|
|
@ -519,7 +532,7 @@ Bit 0 corresponds to TX, bit 1 to TY, and so on.
|
|||
|
||||
Returns: 0 on success, -1 on failure.
|
||||
|
||||
#### spnav_cfg_get_invert
|
||||
#### spnav\_cfg\_get\_invert
|
||||
|
||||
Function prototype: `int spnav_cfg_get_invert(void)`
|
||||
|
||||
|
|
@ -528,7 +541,7 @@ inverted. Bit 0 corresponds to TX, bit 1 to TY and so on.
|
|||
|
||||
Returns: invert bitmaks on success, -1 on failure.
|
||||
|
||||
#### spnav_cfg_set_deadzone
|
||||
#### spnav\_cfg\_set\_deadzone
|
||||
|
||||
Function prototype: `int spnav_cfg_set_deadzone(int devaxis, int delta)`
|
||||
|
||||
|
|
@ -539,7 +552,7 @@ by remapping.
|
|||
|
||||
Returns: 0 on success, -1 on failure.
|
||||
|
||||
#### spnav_cfg_get_deadzone
|
||||
#### spnav\_cfg\_get\_deadzone
|
||||
|
||||
Function prototype: `int spnav_cfg_get_deadzone(int devaxis)`
|
||||
|
||||
|
|
@ -549,7 +562,7 @@ by remapping.
|
|||
|
||||
Returns: deadzone on success, -1 on failure.
|
||||
|
||||
#### spnav_cfg_set_axismap
|
||||
#### spnav\_cfg\_set\_axismap
|
||||
|
||||
Function prototype: `int spnav_cfg_set_axismap(int devaxis, int map)`
|
||||
|
||||
|
|
@ -560,7 +573,7 @@ axis, you can map it to -1.
|
|||
|
||||
Returns: 0 on success, -1 on failure.
|
||||
|
||||
#### spnav_cfg_get_axismap
|
||||
#### spnav\_cfg\_get\_axismap
|
||||
|
||||
Function prototype: `int spnav_cfg_get_axismap(int devaxis)`
|
||||
|
||||
|
|
@ -569,7 +582,7 @@ Returns the input axis mapping for the *device axis* `devaxis`. See
|
|||
|
||||
Returns: axis mapping on success, -1 on failure or if the axis in not mapped.
|
||||
|
||||
#### spnav_cfg_set_bnmap
|
||||
#### spnav\_cfg\_set\_bnmap
|
||||
|
||||
Function prototype: `int spnav_cfg_set_bnmap(int devbn, int map)`
|
||||
|
||||
|
|
@ -581,7 +594,7 @@ button mapping.
|
|||
|
||||
Returns: 0 on success, -1 on failure.
|
||||
|
||||
#### spnav_cfg_get_bnmap
|
||||
#### spnav\_cfg\_get\_bnmap
|
||||
|
||||
Function prototype: `int spnav_cfg_get_bnmap(int devbn)`
|
||||
|
||||
|
|
@ -590,7 +603,7 @@ Returns the input button mapped to the device button `devbn`. See
|
|||
|
||||
Returns: button mapping on success, -1 on failure or if unmapped.
|
||||
|
||||
#### spnav_cfg_set_bnaction
|
||||
#### spnav\_cfg\_set\_bnaction
|
||||
|
||||
Function prototype: `int spnav_cfg_set_bnaction(int devbn, int act)`
|
||||
|
||||
|
|
@ -605,7 +618,7 @@ value returned by `spnav_dev_buttons`-1. Actions are one of the following:
|
|||
|
||||
Returns: 0 on success, -1 on failure.
|
||||
|
||||
#### spnav_cfg_get_bnaction
|
||||
#### spnav\_cfg\_get\_bnaction
|
||||
|
||||
Function prototype: `int spnav_cfg_get_bnaction(int devbn)`
|
||||
|
||||
|
|
@ -614,7 +627,7 @@ Returns the action mapped to the device button `devbn`. See
|
|||
|
||||
Returns: action mapping on success, -1 on failure.
|
||||
|
||||
#### spnav_cfg_set_kbmap
|
||||
#### spnav\_cfg\_set\_kbmap
|
||||
|
||||
Function prototype: `int spnav_cfg_set_kbmap(int devbn, int key)`
|
||||
|
||||
|
|
@ -628,7 +641,7 @@ default), and will be unreliable if spacenavd is compiled without XTEST support.
|
|||
|
||||
Returns: 0 on success, -1 on failure.
|
||||
|
||||
#### spnav_cfg_get_kbmap
|
||||
#### spnav\_cfg\_get\_kbmap
|
||||
|
||||
Function prototype: `int spnav_cfg_get_kbmap(int devbn)`
|
||||
|
||||
|
|
@ -637,7 +650,7 @@ Returns the X11 keysym mapped to the device button `devbn`. See
|
|||
|
||||
Returns: keysym mapping on success, -1 on failure.
|
||||
|
||||
#### spnav_cfg_set_swapyz
|
||||
#### spnav\_cfg\_set\_swapyz
|
||||
|
||||
Function prototype: `int spnav_cfg_set_swapyz(int swap)`
|
||||
|
||||
|
|
@ -645,13 +658,13 @@ Enable or disable swapping of the translation and rotation Y and Z axes.
|
|||
|
||||
Returns: 0 on success, -1 on failure.
|
||||
|
||||
#### spnav_cfg_get_swapyz
|
||||
#### spnav\_cfg\_get\_swapyz
|
||||
|
||||
Function prototype: `int spnav_cfg_get_swapyz(void)`
|
||||
|
||||
Returns: 0 if the Y-Z axes are not swapped, 1 if they are, -1 on failure.
|
||||
|
||||
#### spnav_cfg_set_led
|
||||
#### spnav\_cfg\_set\_led
|
||||
|
||||
Function prototype: `int spnav_cfg_set_led(int mode)`
|
||||
|
||||
|
|
@ -665,7 +678,7 @@ are connected to spacenavd.
|
|||
|
||||
Returns: 0 on success, -1 on failure.
|
||||
|
||||
#### spnav_cfg_get_led
|
||||
#### spnav\_cfg\_get\_led
|
||||
|
||||
Function prototype: `int spnav_cfg_get_led(void)`
|
||||
|
||||
|
|
@ -674,7 +687,7 @@ Returns the LED mode for devices with LEDs around the puck. See
|
|||
|
||||
Returns: LED mode on success, -1 on failure.
|
||||
|
||||
#### spnav_cfg_set_grab
|
||||
#### spnav\_cfg\_set\_grab
|
||||
|
||||
Function prototype: `int spnav_cfg_set_grab(int grab)`
|
||||
|
||||
|
|
@ -686,7 +699,7 @@ exclusive access grab setting, or 0 to disable it.
|
|||
|
||||
Returns: 0 on success, -1 on failure.
|
||||
|
||||
#### spnav_cfg_get_grab
|
||||
#### spnav\_cfg\_get\_grab
|
||||
|
||||
Function prototype: `int spnav_cfg_get_grab(void)`
|
||||
|
||||
|
|
@ -695,7 +708,7 @@ details.
|
|||
|
||||
Returns: exclusive device grab setting on success, -1 on failure.
|
||||
|
||||
#### spnav_cfg_set_serial
|
||||
#### spnav\_cfg\_set\_serial
|
||||
|
||||
Function prototype: `int spnav_cfg_set_serial(const char *devpath)`
|
||||
|
||||
|
|
@ -708,7 +721,7 @@ a TTY character device, otherwise it is ignored.
|
|||
|
||||
Returns: 0 on success, -1 on failure.
|
||||
|
||||
#### spnav_cfg_get_serial
|
||||
#### spnav\_cfg\_get\_serial
|
||||
|
||||
Function prototype: `int spnav_cfg_get_serial(char *buf, int bufsz)`
|
||||
|
||||
|
|
@ -720,3 +733,15 @@ Returns: serial device path length on success, -1 on failure.
|
|||
|
||||
Magellan API
|
||||
------------
|
||||
|
||||
No detailed documentation is currently available for the Magellan API wrapper.
|
||||
It is however rather simple, so go ahead and browse through the
|
||||
`spnav_magellan.h` header file if you want to know more.
|
||||
|
||||
New programs are discouraged from using the Magellan API wrapper. Everything
|
||||
that can be done with it, can also be done with the regular libspnav API; it is
|
||||
after all just as thin compatibility layer on top of the libspnav API.
|
||||
|
||||
It is **not** necessary to use the Magellan API to achieve compatibility with
|
||||
the proprietary 3Dconnexion driver; using the libspnav API with `spnav_x11_open`
|
||||
makes your program compatible with it.
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue