Merge pull request #14 from PiMaker/pi-adds-require-trigger-press-mode

adds require trigger press mode

.gitignore

@@ -8,3 +8,5 @@ ipch
 /OpenVR-SpaceCalibratorDriver/x64/
 /x64/
 /lib/boost*
+/install/OpenVR-SpaceCalibrator.exe
+lib/Release/

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "lib/minhook"]
+	path = lib/minhook
+	url = https://github.com/bdunderscore/minhook.git

LICENSE

@@ -1,6 +1,8 @@
+== OpenVR-SpaceCalibrator ==
+
 MIT License
 
-Copyright (c) 2020 Justin Li
+Copyright (c) 2020-2022 Justin Li and other contributors
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
@@ -19,3 +21,568 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
+
+This software also includes components licensed as follows:
+
+== MinHook ==
+
+MinHook - The Minimalistic API Hooking Library for x64/x86
+Copyright (C) 2009-2017 Tsuda Kageyu.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ 1. Redistributions of source code must retain the above copyright
+    notice, this list of conditions and the following disclaimer.
+ 2. Redistributions in binary form must reproduce the above copyright
+    notice, this list of conditions and the following disclaimer in the
+    documentation and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER
+OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+================================================================================
+Portions of this software are Copyright (c) 2008-2009, Vyacheslav Patkov.
+================================================================================
+Hacker Disassembler Engine 32 C
+Copyright (c) 2008-2009, Vyacheslav Patkov.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ 1. Redistributions of source code must retain the above copyright
+    notice, this list of conditions and the following disclaimer.
+ 2. Redistributions in binary form must reproduce the above copyright
+    notice, this list of conditions and the following disclaimer in the
+    documentation and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+-------------------------------------------------------------------------------
+Hacker Disassembler Engine 64 C
+Copyright (c) 2008-2009, Vyacheslav Patkov.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ 1. Redistributions of source code must retain the above copyright
+    notice, this list of conditions and the following disclaimer.
+ 2. Redistributions in binary form must reproduce the above copyright
+    notice, this list of conditions and the following disclaimer in the
+    documentation and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+== ImGui ==
+
+The MIT License (MIT)
+
+Copyright (c) 2014-2022 Omar Cornut
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+== ImPlot ==
+
+MIT License
+
+Copyright (c) 2020 Evan Pezent
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+== glfw ==
+
+Copyright (c) 2002-2006 Marcus Geelnard
+Copyright (c) 2006-2016 Camilla Berglund <elmindreda@glfw.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.
+
+== gl3w ==
+
+
+    This is free and unencumbered software released into the public domain.
+
+    Anyone is free to copy, modify, publish, use, compile, sell, or
+    distribute this software, either in source code form or as a compiled
+    binary, for any purpose, commercial or non-commercial, and by any
+    means.
+
+    In jurisdictions that recognize copyright laws, the author or authors
+    of this software dedicate any and all copyright interest in the
+    software to the public domain. We make this dedication for the benefit
+    of the public at large and to the detriment of our heirs and
+    successors. We intend this dedication to be an overt act of
+    relinquishment in perpetuity of all present and future rights to this
+    software under copyright law.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+    EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+    MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+    IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
+    OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+    ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+    OTHER DEALINGS IN THE SOFTWARE.
+
+== Eigen ==
+
+Portions copyrighted by many parties; see source code for names.
+(The upstream distribution does not provide any single listing)
+
+This application uses only the MPL-2.0 licensed components of Eigen.
+
+Mozilla Public License Version 2.0
+==================================
+
+1. Definitions
+--------------
+
+1.1. "Contributor"
+    means each individual or legal entity that creates, contributes to
+    the creation of, or owns Covered Software.
+
+1.2. "Contributor Version"
+    means the combination of the Contributions of others (if any) used
+    by a Contributor and that particular Contributor's Contribution.
+
+1.3. "Contribution"
+    means Covered Software of a particular Contributor.
+
+1.4. "Covered Software"
+    means Source Code Form to which the initial Contributor has attached
+    the notice in Exhibit A, the Executable Form of such Source Code
+    Form, and Modifications of such Source Code Form, in each case
+    including portions thereof.
+
+1.5. "Incompatible With Secondary Licenses"
+    means
+
+    (a) that the initial Contributor has attached the notice described
+        in Exhibit B to the Covered Software; or
+
+    (b) that the Covered Software was made available under the terms of
+        version 1.1 or earlier of the License, but not also under the
+        terms of a Secondary License.
+
+1.6. "Executable Form"
+    means any form of the work other than Source Code Form.
+
+1.7. "Larger Work"
+    means a work that combines Covered Software with other material, in 
+    a separate file or files, that is not Covered Software.
+
+1.8. "License"
+    means this document.
+
+1.9. "Licensable"
+    means having the right to grant, to the maximum extent possible,
+    whether at the time of the initial grant or subsequently, any and
+    all of the rights conveyed by this License.
+
+1.10. "Modifications"
+    means any of the following:
+
+    (a) any file in Source Code Form that results from an addition to,
+        deletion from, or modification of the contents of Covered
+        Software; or
+
+    (b) any new file in Source Code Form that contains any Covered
+        Software.
+
+1.11. "Patent Claims" of a Contributor
+    means any patent claim(s), including without limitation, method,
+    process, and apparatus claims, in any patent Licensable by such
+    Contributor that would be infringed, but for the grant of the
+    License, by the making, using, selling, offering for sale, having
+    made, import, or transfer of either its Contributions or its
+    Contributor Version.
+
+1.12. "Secondary License"
+    means either the GNU General Public License, Version 2.0, the GNU
+    Lesser General Public License, Version 2.1, the GNU Affero General
+    Public License, Version 3.0, or any later versions of those
+    licenses.
+
+1.13. "Source Code Form"
+    means the form of the work preferred for making modifications.
+
+1.14. "You" (or "Your")
+    means an individual or a legal entity exercising rights under this
+    License. For legal entities, "You" includes any entity that
+    controls, is controlled by, or is under common control with You. For
+    purposes of this definition, "control" means (a) the power, direct
+    or indirect, to cause the direction or management of such entity,
+    whether by contract or otherwise, or (b) ownership of more than
+    fifty percent (50%) of the outstanding shares or beneficial
+    ownership of such entity.
+
+2. License Grants and Conditions
+--------------------------------
+
+2.1. Grants
+
+Each Contributor hereby grants You a world-wide, royalty-free,
+non-exclusive license:
+
+(a) under intellectual property rights (other than patent or trademark)
+    Licensable by such Contributor to use, reproduce, make available,
+    modify, display, perform, distribute, and otherwise exploit its
+    Contributions, either on an unmodified basis, with Modifications, or
+    as part of a Larger Work; and
+
+(b) under Patent Claims of such Contributor to make, use, sell, offer
+    for sale, have made, import, and otherwise transfer either its
+    Contributions or its Contributor Version.
+
+2.2. Effective Date
+
+The licenses granted in Section 2.1 with respect to any Contribution
+become effective for each Contribution on the date the Contributor first
+distributes such Contribution.
+
+2.3. Limitations on Grant Scope
+
+The licenses granted in this Section 2 are the only rights granted under
+this License. No additional rights or licenses will be implied from the
+distribution or licensing of Covered Software under this License.
+Notwithstanding Section 2.1(b) above, no patent license is granted by a
+Contributor:
+
+(a) for any code that a Contributor has removed from Covered Software;
+    or
+
+(b) for infringements caused by: (i) Your and any other third party's
+    modifications of Covered Software, or (ii) the combination of its
+    Contributions with other software (except as part of its Contributor
+    Version); or
+
+(c) under Patent Claims infringed by Covered Software in the absence of
+    its Contributions.
+
+This License does not grant any rights in the trademarks, service marks,
+or logos of any Contributor (except as may be necessary to comply with
+the notice requirements in Section 3.4).
+
+2.4. Subsequent Licenses
+
+No Contributor makes additional grants as a result of Your choice to
+distribute the Covered Software under a subsequent version of this
+License (see Section 10.2) or under the terms of a Secondary License (if
+permitted under the terms of Section 3.3).
+
+2.5. Representation
+
+Each Contributor represents that the Contributor believes its
+Contributions are its original creation(s) or it has sufficient rights
+to grant the rights to its Contributions conveyed by this License.
+
+2.6. Fair Use
+
+This License is not intended to limit any rights You have under
+applicable copyright doctrines of fair use, fair dealing, or other
+equivalents.
+
+2.7. Conditions
+
+Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted
+in Section 2.1.
+
+3. Responsibilities
+-------------------
+
+3.1. Distribution of Source Form
+
+All distribution of Covered Software in Source Code Form, including any
+Modifications that You create or to which You contribute, must be under
+the terms of this License. You must inform recipients that the Source
+Code Form of the Covered Software is governed by the terms of this
+License, and how they can obtain a copy of this License. You may not
+attempt to alter or restrict the recipients' rights in the Source Code
+Form.
+
+3.2. Distribution of Executable Form
+
+If You distribute Covered Software in Executable Form then:
+
+(a) such Covered Software must also be made available in Source Code
+    Form, as described in Section 3.1, and You must inform recipients of
+    the Executable Form how they can obtain a copy of such Source Code
+    Form by reasonable means in a timely manner, at a charge no more
+    than the cost of distribution to the recipient; and
+
+(b) You may distribute such Executable Form under the terms of this
+    License, or sublicense it under different terms, provided that the
+    license for the Executable Form does not attempt to limit or alter
+    the recipients' rights in the Source Code Form under this License.
+
+3.3. Distribution of a Larger Work
+
+You may create and distribute a Larger Work under terms of Your choice,
+provided that You also comply with the requirements of this License for
+the Covered Software. If the Larger Work is a combination of Covered
+Software with a work governed by one or more Secondary Licenses, and the
+Covered Software is not Incompatible With Secondary Licenses, this
+License permits You to additionally distribute such Covered Software
+under the terms of such Secondary License(s), so that the recipient of
+the Larger Work may, at their option, further distribute the Covered
+Software under the terms of either this License or such Secondary
+License(s).
+
+3.4. Notices
+
+You may not remove or alter the substance of any license notices
+(including copyright notices, patent notices, disclaimers of warranty,
+or limitations of liability) contained within the Source Code Form of
+the Covered Software, except that You may alter any license notices to
+the extent required to remedy known factual inaccuracies.
+
+3.5. Application of Additional Terms
+
+You may choose to offer, and to charge a fee for, warranty, support,
+indemnity or liability obligations to one or more recipients of Covered
+Software. However, You may do so only on Your own behalf, and not on
+behalf of any Contributor. You must make it absolutely clear that any
+such warranty, support, indemnity, or liability obligation is offered by
+You alone, and You hereby agree to indemnify every Contributor for any
+liability incurred by such Contributor as a result of warranty, support,
+indemnity or liability terms You offer. You may include additional
+disclaimers of warranty and limitations of liability specific to any
+jurisdiction.
+
+4. Inability to Comply Due to Statute or Regulation
+---------------------------------------------------
+
+If it is impossible for You to comply with any of the terms of this
+License with respect to some or all of the Covered Software due to
+statute, judicial order, or regulation then You must: (a) comply with
+the terms of this License to the maximum extent possible; and (b)
+describe the limitations and the code they affect. Such description must
+be placed in a text file included with all distributions of the Covered
+Software under this License. Except to the extent prohibited by statute
+or regulation, such description must be sufficiently detailed for a
+recipient of ordinary skill to be able to understand it.
+
+5. Termination
+--------------
+
+5.1. The rights granted under this License will terminate automatically
+if You fail to comply with any of its terms. However, if You become
+compliant, then the rights granted under this License from a particular
+Contributor are reinstated (a) provisionally, unless and until such
+Contributor explicitly and finally terminates Your grants, and (b) on an
+ongoing basis, if such Contributor fails to notify You of the
+non-compliance by some reasonable means prior to 60 days after You have
+come back into compliance. Moreover, Your grants from a particular
+Contributor are reinstated on an ongoing basis if such Contributor
+notifies You of the non-compliance by some reasonable means, this is the
+first time You have received notice of non-compliance with this License
+from such Contributor, and You become compliant prior to 30 days after
+Your receipt of the notice.
+
+5.2. If You initiate litigation against any entity by asserting a patent
+infringement claim (excluding declaratory judgment actions,
+counter-claims, and cross-claims) alleging that a Contributor Version
+directly or indirectly infringes any patent, then the rights granted to
+You by any and all Contributors for the Covered Software under Section
+2.1 of this License shall terminate.
+
+5.3. In the event of termination under Sections 5.1 or 5.2 above, all
+end user license agreements (excluding distributors and resellers) which
+have been validly granted by You or Your distributors under this License
+prior to termination shall survive termination.
+
+************************************************************************
+*                                                                      *
+*  6. Disclaimer of Warranty                                           *
+*  -------------------------                                           *
+*                                                                      *
+*  Covered Software is provided under this License on an "as is"       *
+*  basis, without warranty of any kind, either expressed, implied, or  *
+*  statutory, including, without limitation, warranties that the       *
+*  Covered Software is free of defects, merchantable, fit for a        *
+*  particular purpose or non-infringing. The entire risk as to the     *
+*  quality and performance of the Covered Software is with You.        *
+*  Should any Covered Software prove defective in any respect, You     *
+*  (not any Contributor) assume the cost of any necessary servicing,   *
+*  repair, or correction. This disclaimer of warranty constitutes an   *
+*  essential part of this License. No use of any Covered Software is   *
+*  authorized under this License except under this disclaimer.         *
+*                                                                      *
+************************************************************************
+
+************************************************************************
+*                                                                      *
+*  7. Limitation of Liability                                          *
+*  --------------------------                                          *
+*                                                                      *
+*  Under no circumstances and under no legal theory, whether tort      *
+*  (including negligence), contract, or otherwise, shall any           *
+*  Contributor, or anyone who distributes Covered Software as          *
+*  permitted above, be liable to You for any direct, indirect,         *
+*  special, incidental, or consequential damages of any character      *
+*  including, without limitation, damages for lost profits, loss of    *
+*  goodwill, work stoppage, computer failure or malfunction, or any    *
+*  and all other commercial damages or losses, even if such party      *
+*  shall have been informed of the possibility of such damages. This   *
+*  limitation of liability shall not apply to liability for death or   *
+*  personal injury resulting from such party's negligence to the       *
+*  extent applicable law prohibits such limitation. Some               *
+*  jurisdictions do not allow the exclusion or limitation of           *
+*  incidental or consequential damages, so this exclusion and          *
+*  limitation may not apply to You.                                    *
+*                                                                      *
+************************************************************************
+
+8. Litigation
+-------------
+
+Any litigation relating to this License may be brought only in the
+courts of a jurisdiction where the defendant maintains its principal
+place of business and such litigation shall be governed by laws of that
+jurisdiction, without reference to its conflict-of-law provisions.
+Nothing in this Section shall prevent a party's ability to bring
+cross-claims or counter-claims.
+
+9. Miscellaneous
+----------------
+
+This License represents the complete agreement concerning the subject
+matter hereof. If any provision of this License is held to be
+unenforceable, such provision shall be reformed only to the extent
+necessary to make it enforceable. Any law or regulation which provides
+that the language of a contract shall be construed against the drafter
+shall not be used to construe this License against a Contributor.
+
+10. Versions of the License
+---------------------------
+
+10.1. New Versions
+
+Mozilla Foundation is the license steward. Except as provided in Section
+10.3, no one other than the license steward has the right to modify or
+publish new versions of this License. Each version will be given a
+distinguishing version number.
+
+10.2. Effect of New Versions
+
+You may distribute the Covered Software under the terms of the version
+of the License under which You originally received the Covered Software,
+or under the terms of any subsequent version published by the license
+steward.
+
+10.3. Modified Versions
+
+If you create software not governed by this License, and you want to
+create a new license for such software, you may create and use a
+modified version of this License if you rename the license and remove
+any references to the name of the license steward (except to note that
+such modified license differs from this License).
+
+10.4. Distributing Source Code Form that is Incompatible With Secondary
+Licenses
+
+If You choose to distribute Source Code Form that is Incompatible With
+Secondary Licenses under the terms of this version of the License, the
+notice described in Exhibit B of this License must be attached.
+
+Exhibit A - Source Code Form License Notice
+-------------------------------------------
+
+  This Source Code Form is subject to the terms of the Mozilla Public
+  License, v. 2.0. If a copy of the MPL was not distributed with this
+  file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+If it is not possible or desirable to put the notice in a particular
+file, then You may include the notice in a location (such as a LICENSE
+file in a relevant directory) where a recipient would be likely to look
+for such a notice.
+
+You may add additional accurate notices of copyright ownership.
+
+Exhibit B - "Incompatible With Secondary Licenses" Notice
+---------------------------------------------------------
+
+  This Source Code Form is "Incompatible With Secondary Licenses", as
+  defined by the Mozilla Public License, v. 2.0.

OpenVR-SpaceCalibrator.sln

@@ -1,28 +1,54 @@
 
 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio 14
-VisualStudioVersion = 14.0.25420.1
+# Visual Studio Version 17
+VisualStudioVersion = 17.3.32819.101
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "OpenVR-SpaceCalibrator", "OpenVR-SpaceCalibrator\OpenVR-SpaceCalibrator.vcxproj", "{63BAE169-D595-4464-8E7E-50D6FD379348}"
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "OpenVR-SpaceCalibratorDriver", "OpenVR-SpaceCalibratorDriver\OpenVR-SpaceCalibratorDriver.vcxproj", "{A61324AD-CE32-46D1-A95E-7E28A6D8CCA7}"
+	ProjectSection(ProjectDependencies) = postProject
+		{F142A341-5EE0-442D-A15F-98AE9B48DBAE} = {F142A341-5EE0-442D-A15F-98AE9B48DBAE}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libMinHook", "lib\minhook\build\VC16\libMinHook.vcxproj", "{F142A341-5EE0-442D-A15F-98AE9B48DBAE}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|x64 = Debug|x64
+		Debug|x86 = Debug|x86
 		Release|x64 = Release|x64
+		Release|x86 = Release|x86
 	EndGlobalSection
 	GlobalSection(ProjectConfigurationPlatforms) = postSolution
 		{63BAE169-D595-4464-8E7E-50D6FD379348}.Debug|x64.ActiveCfg = Debug|x64
 		{63BAE169-D595-4464-8E7E-50D6FD379348}.Debug|x64.Build.0 = Debug|x64
+		{63BAE169-D595-4464-8E7E-50D6FD379348}.Debug|x86.ActiveCfg = Debug|x64
+		{63BAE169-D595-4464-8E7E-50D6FD379348}.Debug|x86.Build.0 = Debug|x64
 		{63BAE169-D595-4464-8E7E-50D6FD379348}.Release|x64.ActiveCfg = Release|x64
 		{63BAE169-D595-4464-8E7E-50D6FD379348}.Release|x64.Build.0 = Release|x64
+		{63BAE169-D595-4464-8E7E-50D6FD379348}.Release|x86.ActiveCfg = Release|x64
+		{63BAE169-D595-4464-8E7E-50D6FD379348}.Release|x86.Build.0 = Release|x64
 		{A61324AD-CE32-46D1-A95E-7E28A6D8CCA7}.Debug|x64.ActiveCfg = Debug|x64
 		{A61324AD-CE32-46D1-A95E-7E28A6D8CCA7}.Debug|x64.Build.0 = Debug|x64
+		{A61324AD-CE32-46D1-A95E-7E28A6D8CCA7}.Debug|x86.ActiveCfg = Debug|x64
+		{A61324AD-CE32-46D1-A95E-7E28A6D8CCA7}.Debug|x86.Build.0 = Debug|x64
 		{A61324AD-CE32-46D1-A95E-7E28A6D8CCA7}.Release|x64.ActiveCfg = Release|x64
 		{A61324AD-CE32-46D1-A95E-7E28A6D8CCA7}.Release|x64.Build.0 = Release|x64
+		{A61324AD-CE32-46D1-A95E-7E28A6D8CCA7}.Release|x86.ActiveCfg = Release|x64
+		{A61324AD-CE32-46D1-A95E-7E28A6D8CCA7}.Release|x86.Build.0 = Release|x64
+		{F142A341-5EE0-442D-A15F-98AE9B48DBAE}.Debug|x64.ActiveCfg = Debug|x64
+		{F142A341-5EE0-442D-A15F-98AE9B48DBAE}.Debug|x64.Build.0 = Debug|x64
+		{F142A341-5EE0-442D-A15F-98AE9B48DBAE}.Debug|x86.ActiveCfg = Debug|Win32
+		{F142A341-5EE0-442D-A15F-98AE9B48DBAE}.Debug|x86.Build.0 = Debug|Win32
+		{F142A341-5EE0-442D-A15F-98AE9B48DBAE}.Release|x64.ActiveCfg = Release|x64
+		{F142A341-5EE0-442D-A15F-98AE9B48DBAE}.Release|x64.Build.0 = Release|x64
+		{F142A341-5EE0-442D-A15F-98AE9B48DBAE}.Release|x86.ActiveCfg = Release|Win32
+		{F142A341-5EE0-442D-A15F-98AE9B48DBAE}.Release|x86.Build.0 = Release|Win32
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
 	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {BCE727E8-4604-4D4F-B5FF-321A7D7868D6}
+	EndGlobalSection
 EndGlobal

OpenVR-SpaceCalibrator/Calibration.cpp

@@ -1,7 +1,10 @@
 #include "stdafx.h"
 #include "Calibration.h"
+#include "CalibrationMetrics.h"
 #include "Configuration.h"
 #include "IPCClient.h"
+#include "CalibrationCalc.h"
+#include "VRState.h"
 
 #include <string>
 #include <vector>
@@ -9,255 +12,224 @@
 
 #include <Eigen/Dense>
 
+inline vr::HmdQuaternion_t operator*(const vr::HmdQuaternion_t& lhs, const vr::HmdQuaternion_t& rhs) {
+	return {
+		(lhs.w * rhs.w) - (lhs.x * rhs.x) - (lhs.y * rhs.y) - (lhs.z * rhs.z),
+		(lhs.w * rhs.x) + (lhs.x * rhs.w) + (lhs.y * rhs.z) - (lhs.z * rhs.y),
+		(lhs.w * rhs.y) + (lhs.y * rhs.w) + (lhs.z * rhs.x) - (lhs.x * rhs.z),
+		(lhs.w * rhs.z) + (lhs.z * rhs.w) + (lhs.x * rhs.y) - (lhs.y * rhs.x)
+	};
+}
 
-static IPCClient Driver;
 CalibrationContext CalCtx;
+IPCClient Driver;
+static protocol::DriverPoseShmem shmem;
+
+namespace {
+	CalibrationCalc calibration;
+
+	inline vr::HmdVector3d_t quaternionRotateVector(const vr::HmdQuaternion_t& quat, const double(&vector)[3]) {
+		vr::HmdQuaternion_t vectorQuat = { 0.0, vector[0], vector[1] , vector[2] };
+		vr::HmdQuaternion_t conjugate = { quat.w, -quat.x, -quat.y, -quat.z };
+		auto rotatedVectorQuat = quat * vectorQuat * conjugate;
+		return { rotatedVectorQuat.x, rotatedVectorQuat.y, rotatedVectorQuat.z };
+	}
+
+	inline Eigen::Matrix3d quaternionRotateMatrix(const vr::HmdQuaternion_t& quat) {
+		return Eigen::Quaterniond(quat.w, quat.x, quat.y, quat.z).toRotationMatrix();
+	}
+
+	struct DSample
+	{
+		bool valid;
+		Eigen::Vector3d ref, target;
+	};
+
+	bool StartsWith(const std::string& str, const std::string& prefix)
+	{
+		if (str.length() < prefix.length())
+			return false;
+
+		return str.compare(0, prefix.length(), prefix) == 0;
+	}
+
+	bool EndsWith(const std::string& str, const std::string& suffix)
+	{
+		if (str.length() < suffix.length())
+			return false;
+
+		return str.compare(str.length() - suffix.length(), suffix.length(), suffix) == 0;
+	}
+
+	Eigen::Vector3d AxisFromRotationMatrix3(Eigen::Matrix3d rot)
+	{
+		return Eigen::Vector3d(rot(2, 1) - rot(1, 2), rot(0, 2) - rot(2, 0), rot(1, 0) - rot(0, 1));
+	}
+
+	double AngleFromRotationMatrix3(Eigen::Matrix3d rot)
+	{
+		return acos((rot(0, 0) + rot(1, 1) + rot(2, 2) - 1.0) / 2.0);
+	}
+
+	vr::HmdQuaternion_t VRRotationQuat(const Eigen::Quaterniond& rotQuat)
+	{
+
+		vr::HmdQuaternion_t vrRotQuat;
+		vrRotQuat.x = rotQuat.coeffs()[0];
+		vrRotQuat.y = rotQuat.coeffs()[1];
+		vrRotQuat.z = rotQuat.coeffs()[2];
+		vrRotQuat.w = rotQuat.coeffs()[3];
+		return vrRotQuat;
+	}
+	
+	vr::HmdQuaternion_t VRRotationQuat(Eigen::Vector3d eulerdeg)
+	{
+		auto euler = eulerdeg * EIGEN_PI / 180.0;
+
+		Eigen::Quaterniond rotQuat =
+			Eigen::AngleAxisd(euler(0), Eigen::Vector3d::UnitZ()) *
+			Eigen::AngleAxisd(euler(1), Eigen::Vector3d::UnitY()) *
+			Eigen::AngleAxisd(euler(2), Eigen::Vector3d::UnitX());
+
+		return VRRotationQuat(rotQuat);
+	}
+
+	vr::HmdVector3d_t VRTranslationVec(Eigen::Vector3d transcm)
+	{
+		auto trans = transcm * 0.01;
+		vr::HmdVector3d_t vrTrans;
+		vrTrans.v[0] = trans[0];
+		vrTrans.v[1] = trans[1];
+		vrTrans.v[2] = trans[2];
+		return vrTrans;
+	}
+
+	DSample DeltaRotationSamples(Sample s1, Sample s2)
+	{
+		// Difference in rotation between samples.
+		auto dref = s1.ref.rot * s2.ref.rot.transpose();
+		auto dtarget = s1.target.rot * s2.target.rot.transpose();
+
+		// When stuck together, the two tracked objects rotate as a pair,
+		// therefore their axes of rotation must be equal between any given pair of samples.
+		DSample ds;
+		ds.ref = AxisFromRotationMatrix3(dref);
+		ds.target = AxisFromRotationMatrix3(dtarget);
+
+		// Reject samples that were too close to each other.
+		auto refA = AngleFromRotationMatrix3(dref);
+		auto targetA = AngleFromRotationMatrix3(dtarget);
+		ds.valid = refA > 0.4 && targetA > 0.4 && ds.ref.norm() > 0.01 && ds.target.norm() > 0.01;
+
+		ds.ref.normalize();
+		ds.target.normalize();
+		return ds;
+	}
+
+	Pose ConvertPose(const vr::DriverPose_t &driverPose) {
+		Eigen::Quaterniond driverToWorldQ(
+			driverPose.qWorldFromDriverRotation.w,
+			driverPose.qWorldFromDriverRotation.x,
+			driverPose.qWorldFromDriverRotation.y,
+			driverPose.qWorldFromDriverRotation.z
+		);
+		Eigen::Vector3d driverToWorldV(
+			driverPose.vecWorldFromDriverTranslation[0],
+			driverPose.vecWorldFromDriverTranslation[1],
+			driverPose.vecWorldFromDriverTranslation[2]
+		);
+
+		Eigen::Quaterniond driverRot = driverToWorldQ * Eigen::Quaterniond(
+			driverPose.qRotation.w,
+			driverPose.qRotation.x,
+			driverPose.qRotation.y,
+			driverPose.qRotation.z
+		);
+		
+		Eigen::Vector3d driverPos = driverToWorldV + driverToWorldQ * Eigen::Vector3d(
+			driverPose.vecPosition[0],
+			driverPose.vecPosition[1],
+			driverPose.vecPosition[2]
+		);
+
+		Eigen::AffineCompact3d xform = Eigen::Translation3d(driverPos) * driverRot;
+
+		return Pose(xform);
+	}
+
+	bool CollectSample(const CalibrationContext& ctx)
+	{
+		vr::DriverPose_t reference, target;
+		reference.poseIsValid = false;
+		target.poseIsValid = false;
+
+		reference = ctx.devicePoses[ctx.referenceID];
+		target = ctx.devicePoses[ctx.targetID];
+
+		bool ok = true;
+		if (!reference.poseIsValid)
+		{
+			CalCtx.Log("Reference device is not tracking\n"); ok = false;
+		}
+		if (!target.poseIsValid)
+		{
+			CalCtx.Log("Target device is not tracking\n"); ok = false;
+		}
+		if (!ok)
+		{
+			if (CalCtx.state != CalibrationState::Continuous) {
+				CalCtx.Log("Aborting calibration!\n");
+				CalCtx.state = CalibrationState::None;
+			}
+			return false;
+		}
+
+		// Apply tracker offsets
+		if (CalCtx.state == CalibrationState::Continuous || CalCtx.state == CalibrationState::ContinuousStandby) {
+			reference.vecPosition[0] += ctx.continuousCalibrationOffset.x();
+			reference.vecPosition[1] += ctx.continuousCalibrationOffset.y();
+			reference.vecPosition[2] += ctx.continuousCalibrationOffset.z();
+		}
+
+		calibration.PushSample(Sample(
+			ConvertPose(reference),
+			ConvertPose(target)
+		));
+
+		return true;
+	}
+
+	bool AssignTargets() {
+		auto state = VRState::Load();
+		
+		if (CalCtx.referenceID < 0) {
+			CalCtx.referenceID = state.FindDevice(CalCtx.referenceStandby.trackingSystem, CalCtx.referenceStandby.model, CalCtx.referenceStandby.serial);
+		}
+
+		if (CalCtx.targetID < 0) {
+			CalCtx.targetID = state.FindDevice(CalCtx.targetStandby.trackingSystem, CalCtx.targetStandby.model, CalCtx.targetStandby.serial);
+		}
+
+		for (int i = 0; i < CalCtx.MAX_CONTROLLERS; i++) {
+			if (i < state.devices.size()
+				&& state.devices[i].trackingSystem == CalCtx.targetTrackingSystem
+				&& state.devices[i].deviceClass == vr::TrackedDeviceClass_Controller
+				&& (state.devices[i].controllerRole == vr::TrackedControllerRole_LeftHand || state.devices[i].controllerRole == vr::TrackedControllerRole_RightHand))
+			{
+				CalCtx.controllerIDs[i] = state.devices[i].id;
+			} else {
+				CalCtx.controllerIDs[i] = -1;
+			}
+		}
+
+		return CalCtx.referenceID >= 0 && CalCtx.targetID >= 0;
+	}
+}
 
 void InitCalibrator()
 {
 	Driver.Connect();
-}
-
-struct Pose
-{
-	Eigen::Matrix3d rot;
-	Eigen::Vector3d trans;
-
-	Pose() { }
-	Pose(vr::HmdMatrix34_t hmdMatrix)
-	{
-		for (int i = 0; i < 3; i++) {
-			for (int j = 0; j < 3; j++) {
-				rot(i,j) = hmdMatrix.m[i][j];
-			}
-		}
-		trans = Eigen::Vector3d(hmdMatrix.m[0][3], hmdMatrix.m[1][3], hmdMatrix.m[2][3]);
-	}
-	Pose(double x, double y, double z) : trans(Eigen::Vector3d(x,y,z)) { }
-};
-
-struct Sample
-{
-	Pose ref, target;
-	bool valid;
-	Sample() : valid(false) { }
-	Sample(Pose ref, Pose target) : valid(true), ref(ref), target(target) { }
-};
-
-struct DSample
-{
-	bool valid;
-	Eigen::Vector3d ref, target;
-};
-
-bool StartsWith(const std::string &str, const std::string &prefix)
-{
-	if (str.length() < prefix.length())
-		return false;
-
-	return str.compare(0, prefix.length(), prefix) == 0;
-}
-
-bool EndsWith(const std::string &str, const std::string &suffix)
-{
-	if (str.length() < suffix.length())
-		return false;
-
-	return str.compare(str.length() - suffix.length(), suffix.length(), suffix) == 0;
-}
-
-Eigen::Vector3d AxisFromRotationMatrix3(Eigen::Matrix3d rot)
-{
-	return Eigen::Vector3d(rot(2,1) - rot(1,2), rot(0,2) - rot(2,0), rot(1,0) - rot(0,1));
-}
-
-double AngleFromRotationMatrix3(Eigen::Matrix3d rot)
-{
-	return acos((rot(0,0) + rot(1,1) + rot(2,2) - 1.0) / 2.0);
-}
-
-DSample DeltaRotationSamples(Sample s1, Sample s2)
-{
-	// Difference in rotation between samples.
-	auto dref = s1.ref.rot * s2.ref.rot.transpose();
-	auto dtarget = s1.target.rot * s2.target.rot.transpose();
-
-	// When stuck together, the two tracked objects rotate as a pair,
-	// therefore their axes of rotation must be equal between any given pair of samples.
-	DSample ds;
-	ds.ref = AxisFromRotationMatrix3(dref);
-	ds.target = AxisFromRotationMatrix3(dtarget);
-
-	// Reject samples that were too close to each other.
-	auto refA = AngleFromRotationMatrix3(dref);
-	auto targetA = AngleFromRotationMatrix3(dtarget);
-	ds.valid = refA > 0.4 && targetA > 0.4 && ds.ref.norm() > 0.01 && ds.target.norm() > 0.01;
-
-	ds.ref.normalize();
-	ds.target.normalize();
-	return ds;
-}
-
-Eigen::Vector3d CalibrateRotation(const std::vector<Sample> &samples)
-{
-	std::vector<DSample> deltas;
-
-	for (size_t i = 0; i < samples.size(); i++)
-	{
-		for (size_t j = 0; j < i; j++)
-		{
-			auto delta = DeltaRotationSamples(samples[i], samples[j]);
-			if (delta.valid)
-				deltas.push_back(delta);
-		}
-	}
-	char buf[256];
-	snprintf(buf, sizeof buf, "Got %zd samples with %zd delta samples\n", samples.size(), deltas.size());
-	CalCtx.Log(buf);
-
-	// Kabsch algorithm
-
-	Eigen::MatrixXd refPoints(deltas.size(), 3), targetPoints(deltas.size(), 3);
-	Eigen::Vector3d refCentroid(0,0,0), targetCentroid(0,0,0);
-
-	for (size_t i = 0; i < deltas.size(); i++)
-	{
-		refPoints.row(i) = deltas[i].ref;
-		refCentroid += deltas[i].ref;
-
-		targetPoints.row(i) = deltas[i].target;
-		targetCentroid += deltas[i].target;
-	}
-
-	refCentroid /= (double) deltas.size();
-	targetCentroid /= (double) deltas.size();
-
-	for (size_t i = 0; i < deltas.size(); i++)
-	{
-		refPoints.row(i) -= refCentroid;
-		targetPoints.row(i) -= targetCentroid;
-	}
-
-	auto crossCV = refPoints.transpose() * targetPoints;
-
-	Eigen::BDCSVD<Eigen::MatrixXd> bdcsvd;
-	auto svd = bdcsvd.compute(crossCV, Eigen::ComputeThinU | Eigen::ComputeThinV);
-
-	Eigen::Matrix3d i = Eigen::Matrix3d::Identity();
-	if ((svd.matrixU() * svd.matrixV().transpose()).determinant() < 0)
-	{
-		i(2,2) = -1;
-	}
-
-	Eigen::Matrix3d rot = svd.matrixV() * i * svd.matrixU().transpose();
-	rot.transposeInPlace();
-
-	Eigen::Vector3d euler = rot.eulerAngles(2, 1, 0) * 180.0 / EIGEN_PI;
-
-	snprintf(buf, sizeof buf, "Calibrated rotation: yaw=%.2f pitch=%.2f roll=%.2f\n", euler[1], euler[2], euler[0]);
-	CalCtx.Log(buf);
-	return euler;
-}
-
-Eigen::Vector3d CalibrateTranslation(const std::vector<Sample> &samples)
-{
-	std::vector<std::pair<Eigen::Vector3d, Eigen::Matrix3d>> deltas;
-
-	for (size_t i = 0; i < samples.size(); i++)
-	{
-		for (size_t j = 0; j < i; j++)
-		{
-			auto QAi = samples[i].ref.rot.transpose();
-			auto QAj = samples[j].ref.rot.transpose();
-			auto dQA = QAj - QAi;
-			auto CA = QAj * (samples[j].ref.trans - samples[j].target.trans) - QAi * (samples[i].ref.trans - samples[i].target.trans);
-			deltas.push_back(std::make_pair(CA, dQA));
-
-			auto QBi = samples[i].target.rot.transpose();
-			auto QBj = samples[j].target.rot.transpose();
-			auto dQB = QBj - QBi;
-			auto CB = QBj * (samples[j].ref.trans - samples[j].target.trans) - QBi * (samples[i].ref.trans - samples[i].target.trans);
-			deltas.push_back(std::make_pair(CB, dQB));
-		}
-	}
-
-	Eigen::VectorXd constants(deltas.size() * 3);
-	Eigen::MatrixXd coefficients(deltas.size() * 3, 3);
-
-	for (size_t i = 0; i < deltas.size(); i++)
-	{
-		for (int axis = 0; axis < 3; axis++)
-		{
-			constants(i * 3 + axis) = deltas[i].first(axis);
-			coefficients.row(i * 3 + axis) = deltas[i].second.row(axis);
-		}
-	}
-
-	Eigen::Vector3d trans = coefficients.bdcSvd(Eigen::ComputeThinU | Eigen::ComputeThinV).solve(constants);
-	auto transcm = trans * 100.0;
-
-	char buf[256];
-	snprintf(buf, sizeof buf, "Calibrated translation x=%.2f y=%.2f z=%.2f\n", transcm[0], transcm[1], transcm[2]);
-	CalCtx.Log(buf);
-	return transcm;
-}
-
-Sample CollectSample(const CalibrationContext &ctx)
-{
-	vr::TrackedDevicePose_t reference, target;
-	reference.bPoseIsValid = false;
-	target.bPoseIsValid = false;
-
-	reference = ctx.devicePoses[ctx.referenceID];
-	target = ctx.devicePoses[ctx.targetID];
-
-	bool ok = true;
-	if (!reference.bPoseIsValid)
-	{
-		CalCtx.Log("Reference device is not tracking\n"); ok = false;
-	}
-	if (!target.bPoseIsValid)
-	{
-		CalCtx.Log("Target device is not tracking\n"); ok = false;
-	}
-	if (!ok)
-	{
-		CalCtx.Log("Aborting calibration!\n");
-		CalCtx.state = CalibrationState::None;
-		return Sample();
-	}
-
-	return Sample(
-		Pose(reference.mDeviceToAbsoluteTracking),
-		Pose(target.mDeviceToAbsoluteTracking)
-	);
-}
-
-vr::HmdQuaternion_t VRRotationQuat(Eigen::Vector3d eulerdeg)
-{
-	auto euler = eulerdeg * EIGEN_PI / 180.0;
-
-	Eigen::Quaterniond rotQuat =
-		Eigen::AngleAxisd(euler(0), Eigen::Vector3d::UnitZ()) *
-		Eigen::AngleAxisd(euler(1), Eigen::Vector3d::UnitY()) *
-		Eigen::AngleAxisd(euler(2), Eigen::Vector3d::UnitX());
-
-	vr::HmdQuaternion_t vrRotQuat;
-	vrRotQuat.x = rotQuat.coeffs()[0];
-	vrRotQuat.y = rotQuat.coeffs()[1];
-	vrRotQuat.z = rotQuat.coeffs()[2];
-	vrRotQuat.w = rotQuat.coeffs()[3];
-	return vrRotQuat;
-}
-
-vr::HmdVector3d_t VRTranslationVec(Eigen::Vector3d transcm)
-{
-	auto trans = transcm * 0.01;
-	vr::HmdVector3d_t vrTrans;
-	vrTrans.v[0] = trans[0];
-	vrTrans.v[1] = trans[1];
-	vrTrans.v[2] = trans[2];
-	return vrTrans;
+	shmem.Open(OPENVR_SPACECALIBRATOR_SHMEM_NAME);
 }
 
 void ResetAndDisableOffsets(uint32_t id)
@@ -269,7 +241,7 @@ void ResetAndDisableOffsets(uint32_t id)
 	zeroQ.x = 0; zeroQ.y = 0; zeroQ.z = 0; zeroQ.w = 1;
 
 	protocol::Request req(protocol::RequestSetDeviceTransform);
-	req.setDeviceTransform = { id, false, zeroV, zeroQ };
+	req.setDeviceTransform = { id, false, zeroV, zeroQ, 1.0 };
 	Driver.SendBlocking(req);
 }
 
@@ -277,9 +249,14 @@ static_assert(vr::k_unTrackedDeviceIndex_Hmd == 0, "HMD index expected to be 0")
 
 void ScanAndApplyProfile(CalibrationContext &ctx)
 {
-	char buffer[vr::k_unMaxPropertyStringSize];
+	std::unique_ptr<char[]> buffer_array(new char [vr::k_unMaxPropertyStringSize]);
+	char* buffer = buffer_array.get();
 	ctx.enabled = ctx.validProfile;
 
+	protocol::Request setParamsReq(protocol::RequestSetAlignmentSpeedParams);
+	setParamsReq.setAlignmentSpeedParams = ctx.alignmentSpeedParams;
+	Driver.SendBlocking(setParamsReq);
+
 	for (uint32_t id = 0; id < vr::k_unMaxTrackedDeviceCount; ++id)
 	{
 		auto deviceClass = vr::VRSystem()->GetTrackedDeviceClass(id);
@@ -317,6 +294,22 @@ void ScanAndApplyProfile(CalibrationContext &ctx)
 			//auto p = ctx.devicePoses[id].mDeviceToAbsoluteTracking.m;
 			//printf("HMD %d: %f %f %f\n", id, p[0][3], p[1][3], p[2][3]);
 
+			// Check if the current HMD is a Pimax crystal
+			if (trackingSystem == "aapvr") {
+				// HMD is a Pimax HMD
+				vr::HmdMatrix34_t eyeToHeadLeft = vr::VRSystem()->GetEyeToHeadTransform(vr::Eye_Left);
+				// Crystal's projection matrix is constant 0s or 1s except for [0][3], which stores the IPD offset from the nose
+				bool isCrystalHmd =
+					eyeToHeadLeft.m[0][0] == 1 && eyeToHeadLeft.m[0][1] == 0 && eyeToHeadLeft.m[0][2] == 0 &&                     // IPD
+					eyeToHeadLeft.m[1][0] == 0 && eyeToHeadLeft.m[1][1] == 1 && eyeToHeadLeft.m[1][2] == 0 && eyeToHeadLeft.m[1][3] == 0 &&
+					eyeToHeadLeft.m[2][0] == 0 && eyeToHeadLeft.m[2][1] == 0 && eyeToHeadLeft.m[2][2] == 1 && eyeToHeadLeft.m[2][3] == 0;
+
+				if (isCrystalHmd) {
+					// Move it outside the aapvr system ; we treat aapvr as if it were lighthouse
+					trackingSystem = "Pimax Crystal HMD";
+				}
+			}
+
 			if (trackingSystem != ctx.referenceTrackingSystem)
 			{
 				// Currently using an HMD with a different tracking system than the calibration.
@@ -327,6 +320,23 @@ void ScanAndApplyProfile(CalibrationContext &ctx)
 			continue;
 		}
 
+		// Detect Pimax crystal controllers and separate them too
+		if (deviceClass == vr::TrackedDeviceClass_Controller) {
+			if (trackingSystem == "oculus") {
+				vr::VRSystem()->GetStringTrackedDeviceProperty(id, vr::Prop_RenderModelName_String, buffer, vr::k_unMaxPropertyStringSize, &err);
+				std::string renderModel(buffer);
+				vr::VRSystem()->GetStringTrackedDeviceProperty(id, vr::Prop_ConnectedWirelessDongle_String, buffer, vr::k_unMaxPropertyStringSize, &err);
+				std::string connectedWirelessDongle(buffer);
+
+				// Check if the controller claims its an oculus controller but also pimax
+				if (renderModel.find("{aapvr}") != std::string::npos &&
+					renderModel.find("crystal") != std::string::npos &&
+					connectedWirelessDongle.find("lighthouse") != std::string::npos) {
+					trackingSystem = "Pimax Crystal Controllers";
+				}
+			}
+		}
+
 		if (trackingSystem != ctx.targetTrackingSystem)
 		{
 			ResetAndDisableOffsets(id);
@@ -338,8 +348,12 @@ void ScanAndApplyProfile(CalibrationContext &ctx)
 			id,
 			true,
 			VRTranslationVec(ctx.calibratedTranslation),
-			VRRotationQuat(ctx.calibratedRotation)
+			VRRotationQuat(ctx.calibratedRotation),
+			ctx.calibratedScale
 		};
+		req.setDeviceTransform.lerp = CalCtx.state == CalibrationState::Continuous;
+		req.setDeviceTransform.quash = CalCtx.state == CalibrationState::Continuous && id == CalCtx.targetID && CalCtx.quashTargetInContinuous;
+
 		Driver.SendBlocking(req);
 	}
 
@@ -357,11 +371,35 @@ void ScanAndApplyProfile(CalibrationContext &ctx)
 	}
 }
 
-void StartCalibration()
-{
+void StartCalibration() {
+	AssignTargets();
 	CalCtx.state = CalibrationState::Begin;
 	CalCtx.wantedUpdateInterval = 0.0;
 	CalCtx.messages.clear();
+	calibration.Clear();
+	Metrics::WriteLogAnnotation("StartCalibration");
+}
+
+void StartContinuousCalibration() {
+	AssignTargets();
+	StartCalibration();
+	CalCtx.state = CalibrationState::Continuous;
+	calibration.setRelativeTransformation(CalCtx.refToTargetPose, CalCtx.relativePosCalibrated);
+	calibration.lockRelativePosition = CalCtx.lockRelativePosition;
+	if (CalCtx.lockRelativePosition) {
+		CalCtx.Log("Relative position locked");
+	}
+	else {
+		CalCtx.Log("Collecting initial samples...");
+	}
+	Metrics::WriteLogAnnotation("StartContinuousCalibration");
+}
+
+void EndContinuousCalibration() {
+	CalCtx.state = CalibrationState::None;
+	CalCtx.relativePosCalibrated = false;
+	SaveProfile(CalCtx);
+	Metrics::WriteLogAnnotation("EndContinuousCalibration");
 }
 
 void CalibrationTick(double time)
@@ -373,18 +411,50 @@ void CalibrationTick(double time)
 	if ((time - ctx.timeLastTick) < 0.05)
 		return;
 
+	if (ctx.state == CalibrationState::Continuous || ctx.state == CalibrationState::ContinuousStandby) {
+		ctx.ClearLogOnMessage();
+	}
+
 	ctx.timeLastTick = time;
-	vr::VRSystem()->GetDeviceToAbsoluteTrackingPose(vr::TrackingUniverseRawAndUncalibrated, 0.0f, ctx.devicePoses, vr::k_unMaxTrackedDeviceCount);
+	shmem.ReadNewPoses([&](const protocol::DriverPoseShmem::AugmentedPose& augmented_pose) {
+		if (augmented_pose.deviceId >= 0 && augmented_pose.deviceId <= vr::k_unMaxTrackedDeviceCount) {
+			ctx.devicePoses[augmented_pose.deviceId] = augmented_pose.pose;
+		}
+	});
 
-	if (ctx.state == CalibrationState::None)
+	// check for non-updating headset tracking space (caused by quest out of bounds or taken off head for example) and abort everything for this tick
+	auto p = ctx.devicePoses[vr::k_unTrackedDeviceIndex_Hmd].vecPosition;
+	if ((p[0] == 0.0 && p[1] == 0.0 && p[2] == 0.0) || (ctx.xprev == p[0] && ctx.yprev == p[1] && ctx.zprev == p[2])) {
+		// std::cerr << "HMD tracking didn't update, skipping update" << std::endl;
+		return;
+	}
+	ctx.xprev = p[0];
+	ctx.yprev = p[1];
+	ctx.zprev = p[2];
+
+	if (ctx.state == CalibrationState::None || ctx.state == CalibrationState::ContinuousStandby
+		|| (ctx.state == CalibrationState::Continuous && !calibration.isValid()))
 	{
-		ctx.wantedUpdateInterval = 1.0;
-
 		if ((time - ctx.timeLastScan) >= 1.0)
 		{
 			ScanAndApplyProfile(ctx);
 			ctx.timeLastScan = time;
 		}
+	}
+
+	if (ctx.state == CalibrationState::ContinuousStandby) {
+		if (AssignTargets()) {
+			StartContinuousCalibration();
+		}
+		else {
+			ctx.wantedUpdateInterval = 0.5;
+			ctx.Log("Waiting for devices...");
+			return;
+		}
+	}
+
+	if (ctx.state == CalibrationState::None) {
+		ctx.wantedUpdateInterval = 1.0;
 		return;
 	}
 
@@ -400,11 +470,23 @@ void CalibrationTick(double time)
 		return;
 	}
 
+	bool ok = true;
+
+	if (ctx.referenceID == -1 || ctx.referenceID >= vr::k_unMaxTrackedDeviceCount) {
+		CalCtx.Log("Missing reference device\n");
+		ok = false;
+	}
+	if (ctx.targetID == -1 || ctx.targetID >= vr::k_unMaxTrackedDeviceCount)
+	{
+		CalCtx.Log("Missing target device\n");
+		ok = false;
+	}
+
 	if (ctx.state == CalibrationState::Begin)
 	{
-		bool ok = true;
 
 		char referenceSerial[256], targetSerial[256];
+		referenceSerial[0] = targetSerial[0] = 0;
 		vr::VRSystem()->GetStringTrackedDeviceProperty(ctx.referenceID, vr::Prop_SerialNumber_String, referenceSerial, 256);
 		vr::VRSystem()->GetStringTrackedDeviceProperty(ctx.targetID, vr::Prop_SerialNumber_String, targetSerial, 256);
 
@@ -414,83 +496,124 @@ void CalibrationTick(double time)
 		snprintf(buf, sizeof buf, "Target device ID: %d, serial %s\n", ctx.targetID, targetSerial);
 		CalCtx.Log(buf);
 
-		if (ctx.referenceID == -1)
-		{
-			CalCtx.Log("Missing reference device\n"); ok = false;
-		}
-		else if (!ctx.devicePoses[ctx.referenceID].bPoseIsValid)
+		ScanAndApplyProfile(ctx);
+
+		if (!CalCtx.ReferencePoseIsValid())
 		{
 			CalCtx.Log("Reference device is not tracking\n"); ok = false;
 		}
 
-		if (ctx.targetID == -1)
-		{
-			CalCtx.Log("Missing target device\n"); ok = false;
-		}
-		else if (!ctx.devicePoses[ctx.targetID].bPoseIsValid)
+		if (!CalCtx.TargetPoseIsValid())
 		{
 			CalCtx.Log("Target device is not tracking\n"); ok = false;
 		}
 
-		if (!ok)
-		{
-			ctx.state = CalibrationState::None;
-			CalCtx.Log("Aborting calibration!\n");
+		if (ok) {
+			//ResetAndDisableOffsets(ctx.targetID);
+			ctx.state = CalibrationState::Rotation;
+			ctx.wantedUpdateInterval = 0.0;
+
+			CalCtx.Log("Starting calibration...\n");
 			return;
 		}
-
-		ResetAndDisableOffsets(ctx.targetID);
-		ctx.state = CalibrationState::Rotation;
-		ctx.wantedUpdateInterval = 0.0;
-
-		CalCtx.Log("Starting calibration...\n");
-		return;
 	}
 
-	auto sample = CollectSample(ctx);
-	if (!sample.valid)
+	if (!ok)
 	{
-		return;
-	}
+		if (ctx.state != CalibrationState::Continuous) {
+			ctx.state = CalibrationState::None;
 
-	static std::vector<Sample> samples;
-	samples.push_back(sample);
-
-	CalCtx.Progress(samples.size(), CalCtx.SampleCount());
-
-	if (samples.size() == CalCtx.SampleCount())
-	{
-		CalCtx.Log("\n");
-		if (ctx.state == CalibrationState::Rotation)
-		{
-			ctx.calibratedRotation = CalibrateRotation(samples);
-
-			auto vrRotQuat = VRRotationQuat(ctx.calibratedRotation);
-
-			protocol::Request req(protocol::RequestSetDeviceTransform);
-			req.setDeviceTransform = { ctx.targetID, true, vrRotQuat };
-			Driver.SendBlocking(req);
-
-			ctx.state = CalibrationState::Translation;
+			CalCtx.Log("Aborting calibration!\n");
 		}
-		else if (ctx.state == CalibrationState::Translation)
-		{
-			ctx.calibratedTranslation = CalibrateTranslation(samples);
+		return;
+	}
+
+	if (CalCtx.state == CalibrationState::Continuous && CalCtx.requireTriggerPressToApply) {
+		bool triggerPressed = true;
+		vr::VRControllerState_t state;
+		for (int i = 0; i < CalCtx.MAX_CONTROLLERS; i++) {
+			if (CalCtx.controllerIDs[i] >= 0) {
+				vr::VRSystem()->GetControllerState(CalCtx.controllerIDs[i], &state, sizeof(state));
+				triggerPressed &= state.rAxis[vr::k_eControllerAxis_TrackPad /* matches trigger on Index controllers?? */].x > 0.75f
+					|| state.rAxis[vr::k_eControllerAxis_Trigger].x > 0.75f;
+				//printf("Controller %d tracpad: %f\n", i, state.rAxis[vr::k_eControllerAxis_TrackPad].x);
+				//printf("Controller %d trigger: %f\n", i, state.rAxis[vr::k_eControllerAxis_Trigger].x);
+				if (!triggerPressed) break;
+			}
+		}
+
+		if (!triggerPressed) {
+			ctx.wantedUpdateInterval = 0.5;
+			CalCtx.Log("Waiting for trigger press...\n");
+			return;
+		}
+	}
+
+	if (!CollectSample(ctx))
+	{
+		return;
+	}
+
+	CalCtx.Progress(calibration.SampleCount(), (int)CalCtx.SampleCount());
+
+	while (calibration.SampleCount() > CalCtx.SampleCount()) calibration.ShiftSample();
+
+	if (calibration.SampleCount() >= CalCtx.SampleCount())
+	{
+		LARGE_INTEGER start_time;
+		QueryPerformanceCounter(&start_time);
+		
+		bool ok, lerp = false;
+
+		if (CalCtx.state == CalibrationState::Continuous) {
+			CalCtx.messages.clear();
+			calibration.enableStaticRecalibration = CalCtx.enableStaticRecalibration;
+			calibration.lockRelativePosition = CalCtx.lockRelativePosition;
+			ok = calibration.ComputeIncremental(lerp, CalCtx.continuousCalibrationThreshold);
+		}
+		else {
+			calibration.enableStaticRecalibration = false;
+			ok = calibration.ComputeOneshot();
+		}
+
+		if (calibration.isValid()) {
+			ctx.calibratedRotation = calibration.EulerRotation();
+			ctx.calibratedTranslation = calibration.Transformation().translation() * 100.0; // convert to cm units for profile storage
+			ctx.refToTargetPose = calibration.RelativeTransformation();
+			ctx.relativePosCalibrated = calibration.isRelativeTransformationCalibrated();
 
 			auto vrTrans = VRTranslationVec(ctx.calibratedTranslation);
-
-			protocol::Request req(protocol::RequestSetDeviceTransform);
-			req.setDeviceTransform = { ctx.targetID, true, vrTrans };
-			Driver.SendBlocking(req);
+			auto vrRot = VRRotationQuat(Eigen::Quaterniond(calibration.Transformation().rotation()));
 
 			ctx.validProfile = true;
 			SaveProfile(ctx);
-			CalCtx.Log("Finished calibration, profile saved\n");
 
-			ctx.state = CalibrationState::None;
+			ScanAndApplyProfile(ctx);
+
+			CalCtx.Log("Finished calibration, profile saved\n");
+		} else {
+			CalCtx.Log("Calibration failed.\n");
 		}
 
-		samples.clear();
+		LARGE_INTEGER end_time;
+		QueryPerformanceCounter(&end_time);
+		LARGE_INTEGER freq;
+		QueryPerformanceFrequency(&freq);
+		double duration = (end_time.QuadPart - start_time.QuadPart) / (double)freq.QuadPart;
+		Metrics::computationTime.Push(duration * 1000.0);
+
+		Metrics::WriteLogEntry();
+		
+		if (CalCtx.state != CalibrationState::Continuous) {
+			ctx.state = CalibrationState::None;
+			calibration.Clear();
+		}
+		else {
+			size_t drop_samples = CalCtx.SampleCount() / 10;
+			for (int i = 0; i < drop_samples; i++) {
+				calibration.ShiftSample();
+			}
+		}
 	}
 }
 
@@ -511,8 +634,13 @@ void LoadChaperoneBounds()
 void ApplyChaperoneBounds()
 {
 	vr::VRChaperoneSetup()->RevertWorkingCopy();
-	vr::VRChaperoneSetup()->SetWorkingCollisionBoundsInfo(&CalCtx.chaperone.geometry[0], CalCtx.chaperone.geometry.size());
+	vr::VRChaperoneSetup()->SetWorkingCollisionBoundsInfo(&CalCtx.chaperone.geometry[0], (uint32_t)CalCtx.chaperone.geometry.size());
 	vr::VRChaperoneSetup()->SetWorkingStandingZeroPoseToRawTrackingPose(&CalCtx.chaperone.standingCenter);
 	vr::VRChaperoneSetup()->SetWorkingPlayAreaSize(CalCtx.chaperone.playSpaceSize.v[0], CalCtx.chaperone.playSpaceSize.v[1]);
 	vr::VRChaperoneSetup()->CommitWorkingCopy(vr::EChaperoneConfigFile_Live);
 }
+
+void DebugApplyRandomOffset() {
+	protocol::Request req(protocol::RequestDebugOffset);
+	Driver.SendBlocking(req);
+}

OpenVR-SpaceCalibrator/Calibration.h

@@ -1,8 +1,13 @@
 #pragma once
 
 #include <Eigen/Core>
+#include <Eigen/Geometry>
+#include <Windows.h>
 #include <openvr.h>
 #include <vector>
+#include <deque>
+
+#include "../Protocol.h"
 
 enum class CalibrationState
 {
@@ -11,24 +16,52 @@ enum class CalibrationState
 	Rotation,
 	Translation,
 	Editing,
+	Continuous,
+	ContinuousStandby,
+};
+
+struct StandbyDevice {
+	std::string trackingSystem;
+	std::string model, serial;
 };
 
 struct CalibrationContext
 {
 	CalibrationState state = CalibrationState::None;
-	uint32_t referenceID, targetID;
+	int32_t referenceID = -1, targetID = -1;
+
+	static const size_t MAX_CONTROLLERS = 8;
+	int32_t controllerIDs[MAX_CONTROLLERS];
+
+	StandbyDevice targetStandby, referenceStandby;
 
 	Eigen::Vector3d calibratedRotation;
 	Eigen::Vector3d calibratedTranslation;
+	double calibratedScale;
 
 	std::string referenceTrackingSystem;
 	std::string targetTrackingSystem;
 
 	bool enabled = false;
 	bool validProfile = false;
+	bool clearOnLog = false;
+	bool quashTargetInContinuous = false;
+	bool requireTriggerPressToApply = false;
 	double timeLastTick = 0, timeLastScan = 0;
 	double wantedUpdateInterval = 1.0;
 
+	float xprev, yprev, zprev;
+
+	float continuousCalibrationThreshold;
+	Eigen::Vector3d continuousCalibrationOffset;
+
+	protocol::AlignmentSpeedParams alignmentSpeedParams;
+	bool enableStaticRecalibration;
+	bool lockRelativePosition = false;
+
+	Eigen::AffineCompact3d refToTargetPose = Eigen::AffineCompact3d::Identity();
+	bool relativePosCalibrated = false;
+
 	enum Speed
 	{
 		FAST = 0,
@@ -37,7 +70,33 @@ struct CalibrationContext
 	};
 	Speed calibrationSpeed = FAST;
 
-	vr::TrackedDevicePose_t devicePoses[vr::k_unMaxTrackedDeviceCount];
+	vr::DriverPose_t devicePoses[vr::k_unMaxTrackedDeviceCount];
+
+	CalibrationContext() {
+		calibratedScale = 1.0;
+		memset(devicePoses, 0, sizeof(devicePoses));
+		ResetConfig();
+	}
+
+	void ResetConfig() {
+		alignmentSpeedParams.thr_rot_tiny = 0.49f * (EIGEN_PI / 180.0f);
+		alignmentSpeedParams.thr_rot_small = 0.5f * (EIGEN_PI / 180.0f);
+		alignmentSpeedParams.thr_rot_large = 5.0f * (EIGEN_PI / 180.0f);
+
+		alignmentSpeedParams.thr_trans_tiny = 0.98f / 1000.0; // mm
+		alignmentSpeedParams.thr_trans_small = 1.0f / 1000.0; // mm
+		alignmentSpeedParams.thr_trans_large = 20.0f / 1000.0; // mm
+
+		alignmentSpeedParams.align_speed_tiny = 1.0f;
+		alignmentSpeedParams.align_speed_small = 1.0f;
+		alignmentSpeedParams.align_speed_large = 2.0f;
+
+		continuousCalibrationThreshold = 1.5f;
+
+		continuousCalibrationOffset = Eigen::Vector3d::Zero();
+
+		enableStaticRecalibration = true;
+	}
 
 	struct Chaperone
 	{
@@ -48,6 +107,10 @@ struct CalibrationContext
 		vr::HmdVector2_t playSpaceSize;
 	} chaperone;
 
+	void ClearLogOnMessage() {
+		clearOnLog = true;
+	}
+
 	void Clear()
 	{
 		chaperone.geometry.clear();
@@ -57,10 +120,13 @@ struct CalibrationContext
 
 		calibratedRotation = Eigen::Vector3d();
 		calibratedTranslation = Eigen::Vector3d();
+		calibratedScale = 1.0;
 		referenceTrackingSystem = "";
 		targetTrackingSystem = "";
 		enabled = false;
 		validProfile = false;
+		refToTargetPose = Eigen::AffineCompact3d::Identity();
+		relativePosCalibrated = true;
 	}
 
 	size_t SampleCount()
@@ -91,15 +157,24 @@ struct CalibrationContext
 		int progress, target;
 	};
 
-	std::vector<Message> messages;
+	std::deque<Message> messages;
 
 	void Log(const std::string &msg)
 	{
+		if (clearOnLog) {
+			messages.clear();
+			clearOnLog = false;
+		}
+
 		if (messages.empty() || messages.back().type == Message::Progress)
 			messages.push_back(Message(Message::String));
 
+		OutputDebugStringA(msg.c_str());
+
 		messages.back().str += msg;
 		std::cerr << msg;
+
+		while (messages.size() > 15) messages.pop_front();
 	}
 
 	void Progress(int current, int target)
@@ -110,6 +185,16 @@ struct CalibrationContext
 		messages.back().progress = current;
 		messages.back().target = target;
 	}
+
+	bool TargetPoseIsValid() const {
+		return targetID >= 0 && targetID <= vr::k_unMaxTrackedDeviceCount
+			&& devicePoses[targetID].poseIsValid;
+	}
+
+	bool ReferencePoseIsValid() const {
+		return referenceID >= 0 && referenceID <= vr::k_unMaxTrackedDeviceCount
+			&& devicePoses[referenceID].poseIsValid;
+	}
 };
 
 extern CalibrationContext CalCtx;
@@ -117,5 +202,11 @@ extern CalibrationContext CalCtx;
 void InitCalibrator();
 void CalibrationTick(double time);
 void StartCalibration();
+void StartContinuousCalibration();
+void EndContinuousCalibration();
 void LoadChaperoneBounds();
-void ApplyChaperoneBounds();
+void ApplyChaperoneBounds();
+
+void PushCalibrationApplyTime();
+void ShowCalibrationDebug(int r, int c);
+void DebugApplyRandomOffset();

OpenVR-SpaceCalibrator/CalibrationCalc.cpp

@@ -0,0 +1,660 @@
+#include "CalibrationCalc.h"
+#include "Calibration.h"
+#include "CalibrationMetrics.h"
+#include "..\Protocol.h"
+
+inline vr::HmdQuaternion_t operator*(const vr::HmdQuaternion_t& lhs, const vr::HmdQuaternion_t& rhs) {
+	return {
+		(lhs.w * rhs.w) - (lhs.x * rhs.x) - (lhs.y * rhs.y) - (lhs.z * rhs.z),
+		(lhs.w * rhs.x) + (lhs.x * rhs.w) + (lhs.y * rhs.z) - (lhs.z * rhs.y),
+		(lhs.w * rhs.y) + (lhs.y * rhs.w) + (lhs.z * rhs.x) - (lhs.x * rhs.z),
+		(lhs.w * rhs.z) + (lhs.z * rhs.w) + (lhs.x * rhs.y) - (lhs.y * rhs.x)
+	};
+}
+
+namespace {
+
+	inline vr::HmdVector3d_t quaternionRotateVector(const vr::HmdQuaternion_t& quat, const double(&vector)[3]) {
+		vr::HmdQuaternion_t vectorQuat = { 0.0, vector[0], vector[1] , vector[2] };
+		vr::HmdQuaternion_t conjugate = { quat.w, -quat.x, -quat.y, -quat.z };
+		auto rotatedVectorQuat = quat * vectorQuat * conjugate;
+		return { rotatedVectorQuat.x, rotatedVectorQuat.y, rotatedVectorQuat.z };
+	}
+
+	inline Eigen::Matrix3d quaternionRotateMatrix(const vr::HmdQuaternion_t& quat) {
+		return Eigen::Quaterniond(quat.w, quat.x, quat.y, quat.z).toRotationMatrix();
+	}
+
+	struct DSample
+	{
+		bool valid;
+		Eigen::Vector3d ref, target;
+	};
+
+	bool StartsWith(const std::string& str, const std::string& prefix)
+	{
+		if (str.length() < prefix.length())
+			return false;
+
+		return str.compare(0, prefix.length(), prefix) == 0;
+	}
+
+	bool EndsWith(const std::string& str, const std::string& suffix)
+	{
+		if (str.length() < suffix.length())
+			return false;
+
+		return str.compare(str.length() - suffix.length(), suffix.length(), suffix) == 0;
+	}
+
+	Eigen::Vector3d AxisFromRotationMatrix3(Eigen::Matrix3d rot)
+	{
+		return Eigen::Vector3d(rot(2, 1) - rot(1, 2), rot(0, 2) - rot(2, 0), rot(1, 0) - rot(0, 1));
+	}
+
+	double AngleFromRotationMatrix3(Eigen::Matrix3d rot)
+	{
+		return acos((rot(0, 0) + rot(1, 1) + rot(2, 2) - 1.0) / 2.0);
+	}
+
+	vr::HmdQuaternion_t VRRotationQuat(Eigen::Vector3d eulerdeg)
+	{
+		auto euler = eulerdeg * EIGEN_PI / 180.0;
+
+		Eigen::Quaterniond rotQuat =
+			Eigen::AngleAxisd(euler(0), Eigen::Vector3d::UnitZ()) *
+			Eigen::AngleAxisd(euler(1), Eigen::Vector3d::UnitY()) *
+			Eigen::AngleAxisd(euler(2), Eigen::Vector3d::UnitX());
+
+		vr::HmdQuaternion_t vrRotQuat;
+		vrRotQuat.x = rotQuat.coeffs()[0];
+		vrRotQuat.y = rotQuat.coeffs()[1];
+		vrRotQuat.z = rotQuat.coeffs()[2];
+		vrRotQuat.w = rotQuat.coeffs()[3];
+		return vrRotQuat;
+	}
+
+	vr::HmdVector3d_t VRTranslationVec(Eigen::Vector3d transcm)
+	{
+		auto trans = transcm * 0.01;
+		vr::HmdVector3d_t vrTrans;
+		vrTrans.v[0] = trans[0];
+		vrTrans.v[1] = trans[1];
+		vrTrans.v[2] = trans[2];
+		return vrTrans;
+	}
+
+	DSample DeltaRotationSamples(Sample s1, Sample s2)
+	{
+		// Difference in rotation between samples.
+		auto dref = s1.ref.rot * s2.ref.rot.transpose();
+		auto dtarget = s1.target.rot * s2.target.rot.transpose();
+
+		// When stuck together, the two tracked objects rotate as a pair,
+		// therefore their axes of rotation must be equal between any given pair of samples.
+		DSample ds;
+		ds.ref = AxisFromRotationMatrix3(dref);
+		ds.target = AxisFromRotationMatrix3(dtarget);
+
+		// Reject samples that were too close to each other.
+		auto refA = AngleFromRotationMatrix3(dref);
+		auto targetA = AngleFromRotationMatrix3(dtarget);
+		ds.valid = refA > 0.4 && targetA > 0.4 && ds.ref.norm() > 0.01 && ds.target.norm() > 0.01;
+
+		ds.ref.normalize();
+		ds.target.normalize();
+		return ds;
+	}
+}
+
+const double CalibrationCalc::AxisVarianceThreshold = 0.001;
+void CalibrationCalc::PushSample(const Sample& sample) {
+	m_samples.push_back(sample);
+}
+
+void CalibrationCalc::Clear() {
+	m_estimatedTransformation.setIdentity();
+	m_isValid = false;
+	m_samples.clear();
+	m_axisVariance = 0.0;
+	m_refToTargetPose = Eigen::AffineCompact3d::Identity();
+	m_relativePosCalibrated = false;
+}
+
+Eigen::Vector3d CalibrationCalc::CalibrateRotation() const {
+	std::vector<DSample> deltas;
+
+	for (size_t i = 0; i < m_samples.size(); i++)
+	{
+		for (size_t j = 0; j < i; j++)
+		{
+			auto delta = DeltaRotationSamples(m_samples[i], m_samples[j]);
+			if (delta.valid)
+				deltas.push_back(delta);
+		}
+	}
+	//char buf[256];
+	//snprintf(buf, sizeof buf, "Got %zd samples with %zd delta samples\n", m_samples.size(), deltas.size());
+	//CalCtx.Log(buf);
+
+	// Kabsch algorithm
+
+    // Initialize 2D points and centroids
+    Eigen::MatrixXd refPoints(deltas.size(), 2), targetPoints(deltas.size(), 2);
+    Eigen::Vector2d refCentroid(0, 0), targetCentroid(0, 0);
+
+    // Fill matrices and calculate centroids
+    for (size_t i = 0; i < deltas.size(); i++) {
+        refPoints.row(i) << deltas[i].ref[0], deltas[i].ref[2];  // Take only the x and z components
+        refCentroid += refPoints.row(i);
+
+        targetPoints.row(i) << deltas[i].target[0], deltas[i].target[2];  // Take only the x and z components
+        targetCentroid += targetPoints.row(i);
+    }
+
+    refCentroid /= (double)deltas.size();
+    targetCentroid /= (double)deltas.size();
+
+    // Center the points
+    for (size_t i = 0; i < deltas.size(); i++) {
+        refPoints.row(i) -= refCentroid;
+        targetPoints.row(i) -= targetCentroid;
+    }
+
+    // Calculate cross-covariance matrix
+    auto crossCV = refPoints.transpose() * targetPoints;
+
+    // Singular Value Decomposition (SVD)
+    Eigen::JacobiSVD<Eigen::MatrixXd> svd(crossCV, Eigen::ComputeThinU | Eigen::ComputeThinV);
+
+    // Calculate 2D rotation matrix
+    Eigen::Matrix2d i = Eigen::Matrix2d::Identity();
+    Eigen::Matrix2d rot = svd.matrixV() * i * svd.matrixU().transpose();
+
+    // Calculate yaw angle in radians
+    double yaw = std::atan2(rot(1, 0), rot(0, 0));
+
+    // Convert to degrees
+	Eigen::Vector3d euler(0.0, yaw * 180.0 / EIGEN_PI, 0.0);
+
+	//snprintf(buf, sizeof buf, "Calibrated rotation: yaw=%.2f pitch=%.2f roll=%.2f\n", euler[1], euler[2], euler[0]);
+	//CalCtx.Log(buf);
+	return euler;
+}
+
+Eigen::Vector3d CalibrationCalc::CalibrateTranslation(const Eigen::Matrix3d &rotation) const
+{
+	std::vector<std::pair<Eigen::Vector3d, Eigen::Matrix3d>> deltas;
+
+	for (size_t i = 0; i < m_samples.size(); i++)
+	{
+		Sample s_i = m_samples[i];
+		s_i.target.rot = rotation * s_i.target.rot;
+		s_i.target.trans = rotation * s_i.target.trans;
+
+		for (size_t j = 0; j < i; j++)
+		{
+			Sample s_j = m_samples[j];
+			s_j.target.rot = rotation * s_j.target.rot;
+			s_j.target.trans = rotation * s_j.target.trans;
+			
+			auto QAi = s_i.ref.rot.transpose();
+			auto QAj = s_j.ref.rot.transpose();
+			auto dQA = QAj - QAi;
+			auto CA = QAj * (s_j.ref.trans - s_j.target.trans) - QAi * (s_i.ref.trans - s_i.target.trans);
+			deltas.push_back(std::make_pair(CA, dQA));
+
+			auto QBi = s_i.target.rot.transpose();
+			auto QBj = s_j.target.rot.transpose();
+			auto dQB = QBj - QBi;
+			auto CB = QBj * (s_j.ref.trans - s_j.target.trans) - QBi * (s_i.ref.trans - s_i.target.trans);
+			deltas.push_back(std::make_pair(CB, dQB));
+		}
+	}
+
+	Eigen::VectorXd constants(deltas.size() * 3);
+	Eigen::MatrixXd coefficients(deltas.size() * 3, 3);
+
+	for (size_t i = 0; i < deltas.size(); i++)
+	{
+		for (int axis = 0; axis < 3; axis++)
+		{
+			constants(i * 3 + axis) = deltas[i].first(axis);
+			coefficients.row(i * 3 + axis) = deltas[i].second.row(axis);
+		}
+	}
+
+	Eigen::Vector3d trans = coefficients.bdcSvd(Eigen::ComputeThinU | Eigen::ComputeThinV).solve(constants);
+	auto transcm = trans * 100.0;
+
+	//char buf[256];
+	//snprintf(buf, sizeof buf, "Calibrated translation x=%.2f y=%.2f z=%.2f\n", transcm[0], transcm[1], transcm[2]);
+	//CalCtx.Log(buf);
+	return trans;
+}
+
+void CalibrationCalc::CalibrateScaleOffset(const Eigen::Matrix3d& rotation, Eigen::Vector3d* out_scaleOffset, float* out_scaleFactor) const {
+	// @TODO: figure out where the target and ref
+}
+
+
+namespace {
+	Pose ApplyTransform(const Pose& originalPose, const Eigen::AffineCompact3d& transform) {
+		Pose pose(originalPose);
+		pose.rot = transform.rotation() * pose.rot;
+		pose.trans = transform * pose.trans;
+		return pose;
+	}
+
+	 Pose ApplyTransform(const Pose & originalPose, const Eigen::Vector3d & vrTrans, const Eigen::Matrix3d & rotMat) {
+		Pose pose(originalPose);
+		pose.rot = rotMat * pose.rot;
+		pose.trans = vrTrans + (rotMat * pose.trans);
+		return pose;
+	}
+}
+
+Eigen::AffineCompact3d CalibrationCalc::ComputeCalibration() const {
+	Eigen::Vector3d rotation = CalibrateRotation();
+	Eigen::Matrix3d rotationMat = quaternionRotateMatrix(VRRotationQuat(rotation));
+	Eigen::Vector3d translation = CalibrateTranslation(rotationMat);
+	
+	Eigen::AffineCompact3d rot(rotationMat);
+	Eigen::Translation3d trans(translation);
+
+	return trans * rot;
+}
+
+
+
+double CalibrationCalc::RetargetingErrorRMS(
+	const Eigen::Vector3d& hmdToTargetPos,
+	const Eigen::AffineCompact3d& calibration
+) const {
+	double errorAccum = 0;
+	int sampleCount = 0;
+
+	for (auto& sample : m_samples) {
+		if (!sample.valid) continue;
+
+		// Apply transformation
+		const auto updatedPose = ApplyTransform(sample.target, calibration);
+
+		const Eigen::Vector3d hmdPoseSpace = sample.ref.rot * hmdToTargetPos + sample.ref.trans;
+
+		// Compute error term
+		double error = (updatedPose.trans - hmdPoseSpace).squaredNorm();
+		errorAccum += error;
+		sampleCount++;
+	}
+
+	return sqrt(errorAccum / sampleCount);
+}
+
+Eigen::Vector3d CalibrationCalc::ComputeRefToTargetOffset(const Eigen::AffineCompact3d& calibration) const {
+	Eigen::Vector3d accum = Eigen::Vector3d::Zero();
+	int sampleCount = 0;
+
+	for (auto& sample : m_samples) {
+		if (!sample.valid) continue;
+
+		// Apply transformation
+		const auto updatedPose = ApplyTransform(sample.target, calibration);
+
+		// Now move the transform from world to HMD space
+		const auto hmdOriginPos = updatedPose.trans - sample.ref.trans;
+		const auto hmdSpace = sample.ref.rot.inverse() * hmdOriginPos;
+
+		accum += hmdSpace;
+		sampleCount++;
+	}
+
+	accum /= sampleCount;
+
+	return accum;
+}
+
+Eigen::Vector4d CalibrationCalc::ComputeAxisVariance(
+	const Eigen::AffineCompact3d& calibration
+) const {
+	// We want to determine if the user rotated in enough axis to find a unique solution.
+	// It's sufficient to rotate in two axis - this is because once we constrain the mapping
+	// of those two orthogonal basis vectors, the third is determined by the cross product of
+	// those two basis vectors. So, the question we then have to answer is - after accounting for
+	// translational movement of the HMD itself, are we too close to having only moved on a plane?
+
+	// To determine this, we perform primary component analysis on the rotation quaternions themselves.
+	// Since an angle axis quaternion is defined as the sum of Qidentity*cos(angle/2) + Qaxis*sin(angle/2),
+	// we expect that rotations around a single axis will have two primary components: One corresponding
+	// to the identity component, and one to the axis component. Thus, we check the variance (eigenvalue) of
+	// the third primary component to see if we've moved in two axis.
+	std::ostringstream dbgStream;
+
+	std::vector<Eigen::Vector4d> points;
+
+	Eigen::Vector4d mean = Eigen::Vector4d::Zero();
+
+	for (auto& sample : m_samples) {
+		if (!sample.valid) continue;
+
+		auto q = Eigen::Quaterniond(sample.target.rot);
+		auto point = Eigen::Vector4d(q.w(), q.x(), q.y(), q.z());
+		mean += point;
+
+		points.push_back(point);
+	}
+	mean /= (double) points.size();
+
+	// Compute covariance matrix
+	Eigen::Matrix4d covMatrix = Eigen::Matrix4d::Zero();
+
+	for (auto& point : points) {
+		for (int i = 0; i < 4; i++) {
+			for (int j = 0; j < 4; j++) {
+				covMatrix(i, j) += (point(i) - mean(i)) * (point(j) - mean(j));
+			}
+		}
+	}
+	covMatrix /= (double) points.size();
+
+	Eigen::SelfAdjointEigenSolver<Eigen::Matrix4d> solver;
+	solver.compute(covMatrix);
+
+	return solver.eigenvalues();
+}
+
+bool CalibrationCalc::ValidateCalibration(const Eigen::AffineCompact3d &calibration, double *error, Eigen::Vector3d *posOffsetV) {
+	bool ok = true;
+
+	const auto posOffset = ComputeRefToTargetOffset(calibration);
+
+	if (posOffsetV) *posOffsetV = posOffset;
+
+	// char buf[256];
+	//snprintf(buf, sizeof buf, "HMD to target offset: (%.2f, %.2f, %.2f)\n", posOffset(0), posOffset(1), posOffset(2));
+	//CalCtx.Log(buf);
+
+	double rmsError = RetargetingErrorRMS(posOffset, calibration);
+	//snprintf(buf, sizeof buf, "Position error (RMS): %.3f\n", rmsError);
+	//CalCtx.Log(buf);
+	if (rmsError > 0.1) ok = false;
+
+	if (error) *error = rmsError;
+
+	return ok;
+}
+
+
+// Given:
+//   R - the reference pose (in reference world space)
+//   T - the target pose (in target world space)
+//   C - the true calibration (target world -> reference world)
+// We assume that there is some "static target pose" S s.t.:
+// R * S = C * T (we'll call this the static target pose)
+// To compute S:
+// S = R^-1 * C * T
+// To compute C:
+// R * S * T^-1 = C
+
+namespace {
+	class PoseAverager {
+	private:
+		Eigen::Matrix<double, 4, Eigen::Dynamic> quatAvg;
+		Eigen::Vector3d accum = Eigen::Vector3d::Zero();
+		int i = 0;
+	public:
+		PoseAverager(size_t n_samples) {
+			quatAvg.resize(4, n_samples);
+		}
+
+		template<typename P>
+		void Push(const P &pose) {
+			const Eigen::Quaterniond rot(pose.rotation());
+			quatAvg.col(i++) = Eigen::Vector4d(rot.w(), rot.x(), rot.y(), rot.z());
+			accum += pose.translation();
+		}
+
+		Eigen::AffineCompact3d Average() {
+			// https://stackoverflow.com/a/27410865/36723
+			auto quatT = quatAvg.transpose();
+			Eigen::Matrix4d quatMul = quatAvg * quatT;
+			Eigen::SelfAdjointEigenSolver<Eigen::Matrix4d> solver;
+			solver.compute(quatMul);
+
+			Eigen::Vector4d quatAvgV = solver.eigenvectors().col(3).real().normalized();
+			Eigen::Quaterniond avgQ(quatAvgV(0), quatAvgV(1), quatAvgV(2), quatAvgV(3));
+			avgQ.normalize();
+
+			Eigen::AffineCompact3d pose(avgQ);
+			pose.pretranslate(accum * (1.0 / i));
+
+			return pose;
+		}
+
+		template<typename XS, typename F>
+		static Eigen::AffineCompact3d AverageFor(const XS& samples, const F& poseProvider) {
+			int sampleCount = 0;
+
+			for (auto& sample : samples) {
+				if (!sample.valid) continue;
+
+				sampleCount++;
+			}
+
+			PoseAverager accum(sampleCount);
+
+			for (auto& sample : samples) {
+				if (!sample.valid) continue;
+				auto pose = poseProvider(sample);
+				accum.Push(pose);
+			}
+
+			return accum.Average();
+		}
+	};
+}
+
+// S = R^-1 * C * T
+Eigen::AffineCompact3d CalibrationCalc::EstimateRefToTargetPose(const Eigen::AffineCompact3d &calibration) const {
+	auto avg = PoseAverager::AverageFor(m_samples, [&](const auto& sample) {
+		return Eigen::Affine3d(sample.ref.ToAffine().inverse() * calibration * sample.target.ToAffine());
+	});
+
+#if 0
+	Eigen::Vector3d eulerAvgQ = avg.rotation().eulerAngles(2, 1, 0) * 180.0 / EIGEN_PI;
+	Eigen::Vector3d trans = Eigen::Vector3d(avg.translation());
+
+	std::ostringstream oss;
+	oss << "==========================================================================================\n";
+	oss << "Avg rot: " << eulerAvgQ.x() << ", " << eulerAvgQ.y() << ", " << eulerAvgQ.z() << "\n";
+	oss << "Avg trans:\n" << trans.x() << ", " << trans.y() << ", " << trans.z() << "\n";
+	OutputDebugStringA(oss.str().c_str());
+#endif
+	return avg;
+}
+
+// S = R^-1 * C * T
+// R * S * T^-1 = C
+
+// R * (R^-1 * C * T) * T^-1 = C
+
+/*
+ * This calibration routine attempts to use the estimated refToTargetPose to derive the
+ * playspace calibration based on the relative position of reference and target device.
+ * This computation can be performed even when the devices are not moving.
+ */
+bool CalibrationCalc::CalibrateByRelPose(Eigen::AffineCompact3d &out) const {
+	// R * S * T^-1 = C
+	out = PoseAverager::AverageFor(m_samples, [&](const auto& sample) {
+		return Eigen::AffineCompact3d(sample.ref.ToAffine() * m_refToTargetPose * sample.target.ToAffine().inverse());
+	});
+
+	return true;
+}
+
+
+
+bool CalibrationCalc::ComputeOneshot() {
+	auto calibration = ComputeCalibration();
+
+	bool valid = ValidateCalibration(calibration);
+
+	if (valid) {
+		m_estimatedTransformation = calibration; // @NOTE: Normal calibration
+		m_isValid = true;
+		return true;
+	}
+	else {
+		CalCtx.Log("Not updating: Low-quality calibration result\n");
+		return false;
+	}
+}
+
+void CalibrationCalc::ComputeInstantOffset() {
+	const auto &latestSample = m_samples.back();
+
+	// Apply transformation
+	const auto updatedPose = ApplyTransform(latestSample.target, m_estimatedTransformation);
+
+	// Now move the transform from world to HMD space
+	const auto hmdOriginPos = updatedPose.trans - latestSample.ref.trans;
+	const auto hmdSpace = latestSample.ref.rot.inverse() * hmdOriginPos;
+	
+	Metrics::posOffset_lastSample.Push(hmdSpace * 1000);
+}
+
+bool CalibrationCalc::ComputeIncremental(bool &lerp, double threshold) {
+
+
+	Metrics::RecordTimestamp();
+
+	if (lockRelativePosition) {
+		Eigen::AffineCompact3d byRelPose;
+		double relPoseError = INFINITY;
+		Eigen::Vector3d relPosOffset;
+		CalibrateByRelPose(byRelPose);
+		ValidateCalibration(byRelPose, &relPoseError, &relPosOffset);
+		Metrics::posOffset_byRelPose.Push(relPosOffset * 1000);
+		Metrics::error_byRelPose.Push(relPoseError * 1000);
+
+		m_isValid = true;
+		m_estimatedTransformation = byRelPose;
+		return true;
+	}
+
+	double priorCalibrationError = INFINITY;
+	Eigen::Vector3d priorPosOffset;
+    if (m_isValid) {
+        ValidateCalibration(m_estimatedTransformation, &priorCalibrationError, &priorPosOffset);
+		
+        Metrics::posOffset_currentCal.Push(priorPosOffset * 1000);
+        Metrics::error_currentCal.Push(priorCalibrationError * 1000);
+
+        if (priorCalibrationError < 0.005) {
+            return false;
+        }
+    }
+	double newError = INFINITY;
+	bool newCalibrationValid = false;
+    Eigen::AffineCompact3d byRelPose;
+    Eigen::AffineCompact3d calibration;
+	bool usingRelPose = false;
+    double relPoseError = INFINITY;
+
+    if (enableStaticRecalibration && CalibrateByRelPose(byRelPose)) {
+		Eigen::Vector3d relPosOffset;
+		ValidateCalibration(byRelPose, &relPoseError, &relPosOffset);
+        Metrics::posOffset_byRelPose.Push(relPosOffset * 1000);
+        Metrics::error_byRelPose.Push(relPoseError * 1000);
+		
+		if (relPoseError < 0.010 || m_relativePosCalibrated && relPoseError < 0.025) {
+			newCalibrationValid = true;
+			usingRelPose = true;
+			newError = relPoseError;
+			calibration = byRelPose;
+			if (relPoseError * threshold >= priorCalibrationError) {
+				return false;
+			}
+		}
+	}
+
+	double newVariance = 0;
+    if (!newCalibrationValid) {
+        calibration = ComputeCalibration();
+
+        newVariance = ComputeAxisVariance(calibration)(1);
+		Metrics::axisIndependence.Push(newVariance);
+
+        if (newVariance < AxisVarianceThreshold && newVariance < m_axisVariance) {
+            newCalibrationValid = false;
+        } else {
+            newCalibrationValid = ValidateCalibration(calibration, &newError, &m_posOffset);
+            Metrics::posOffset_rawComputed.Push(m_posOffset * 1000);
+        }
+
+        if (m_isValid) {
+            if (priorCalibrationError < newError * threshold) {
+                // If we have a more noisy calibration than before, avoid updating.
+                newCalibrationValid = false;
+            }
+        }
+
+        Metrics::error_rawComputed.Push(newError * 1000);
+		
+		ComputeInstantOffset();
+    }
+
+
+	
+
+#if 0
+		char tmp[256];
+		snprintf(tmp, sizeof tmp, "Prior calibration error: %.3f (valid: %s) sct %d; new error %.3f; new better? %s\n",
+			priorCalibrationError, m_isValid ? "yes" : "no", stableCt, newError, !oldCalibrationBetter ? "yes" : "no");
+		CalCtx.Log(tmp);
+#endif
+		
+	
+	// Now, can we use the relative pose to perform a rapid correction?
+    if (!newCalibrationValid) {
+		
+        double existingPoseErrorUsingRelPosition = RetargetingErrorRMS(m_refToTargetPose.translation(), m_estimatedTransformation);
+        Metrics::error_currentCalRelPose.Push(existingPoseErrorUsingRelPosition * 1000);
+		if (relPoseError * threshold < existingPoseErrorUsingRelPosition || newCalibrationValid && relPoseError < newError) {
+		newCalibrationValid = true;
+        usingRelPose = true;
+        newError = relPoseError;
+        calibration = byRelPose;
+		}
+    }
+
+	if (newCalibrationValid) {
+		lerp = m_isValid;
+		m_relativePosCalibrated = m_relativePosCalibrated || newError < 0.005;
+		if (!m_isValid) {
+			CalCtx.Log("Applying initial transformation...");
+		}
+		else if (m_relativePosCalibrated) {
+			CalCtx.Log("Applying updated transformation...");
+		} else {
+			CalCtx.Log("Applying temporary transformation...");
+		}
+		
+		m_isValid = true;
+		m_estimatedTransformation = calibration; // @NOTE: Continuous calibration
+		m_axisVariance = newVariance;
+
+		if (!usingRelPose) {
+			m_refToTargetPose = EstimateRefToTargetPose(m_estimatedTransformation);
+		}
+
+		Metrics::calibrationApplied.Push(!usingRelPose);
+
+		return true;
+	}
+	else {
+		return false;
+	}
+}
+
+

OpenVR-SpaceCalibrator/CalibrationCalc.h

@@ -0,0 +1,144 @@
+#pragma once
+
+#include <Eigen/Dense>
+#include <openvr.h>
+#include <vector>
+#include <deque>
+#include <iostream>
+
+struct Pose
+{
+	Eigen::Matrix3d rot;
+	Eigen::Vector3d trans;
+
+	Pose() { }
+	Pose(const Eigen::AffineCompact3d& transform) {
+		rot = transform.rotation();
+		trans = transform.translation();
+	}
+	
+	Pose(vr::HmdMatrix34_t hmdMatrix)
+	{
+		for (int i = 0; i < 3; i++) {
+			for (int j = 0; j < 3; j++) {
+				rot(i, j) = hmdMatrix.m[i][j];
+			}
+		}
+		trans = Eigen::Vector3d(hmdMatrix.m[0][3], hmdMatrix.m[1][3], hmdMatrix.m[2][3]);
+	}
+	Pose(vr::HmdQuaternion_t rot, const double *trans) {
+		this->rot = Eigen::Matrix3d(Eigen::Quaterniond(rot.w, rot.x, rot.y, rot.z));
+		this->trans = Eigen::Vector3d(trans[0], trans[1], trans[2]);
+	}
+	Pose(double x, double y, double z) : trans(Eigen::Vector3d(x, y, z)) { }
+
+	Eigen::Matrix4d ToAffine() const {
+		Eigen::Matrix4d matrix = Eigen::Matrix4d::Identity();
+
+		for (int i = 0; i < 3; i++) {
+			for (int j = 0; j < 3; j++) {
+				matrix(i, j) = rot(i, j);
+			}
+			matrix(i, 3) = trans(i);
+		}
+
+		return matrix;
+	}
+};
+
+struct Sample
+{
+	Pose ref, target;
+	bool valid;
+	Sample() : valid(false) { }
+	Sample(Pose ref, Pose target) : valid(true), ref(ref), target(target) { }
+};
+
+class CalibrationCalc {
+public:
+	static const double AxisVarianceThreshold;
+
+	bool enableStaticRecalibration;
+	bool lockRelativePosition = false;
+	
+	const Eigen::AffineCompact3d Transformation() const 
+	{
+		return m_estimatedTransformation;
+	}
+
+	const Eigen::Vector3d EulerRotation() const {
+		auto rot = m_estimatedTransformation.rotation();
+		return rot.eulerAngles(2, 1, 0) * 180.0 / EIGEN_PI;
+	}
+
+	bool isValid() const {
+		return m_isValid;
+	}
+	
+	const Eigen::AffineCompact3d RelativeTransformation() const 
+	{
+		return m_refToTargetPose;
+	}
+
+	bool isRelativeTransformationCalibrated() const
+	{
+		return m_relativePosCalibrated;
+	}
+
+	void setRelativeTransformation(const Eigen::AffineCompact3d transform, bool calibrated)
+	{
+		m_refToTargetPose = transform;
+		m_relativePosCalibrated = calibrated;
+	}
+
+	void PushSample(const Sample& sample);
+	void Clear();
+
+	bool ComputeOneshot();
+	bool ComputeIncremental(bool &lerp, double threshold);
+
+	size_t SampleCount() const {
+		return m_samples.size();
+	}
+
+	void ShiftSample() {
+		if (!m_samples.empty()) m_samples.pop_front();
+	}
+
+	CalibrationCalc() : m_isValid(false), m_calcCycle(0), enableStaticRecalibration(true) {}
+
+	// Debug fields
+	Eigen::Vector3d m_posOffset;
+	double m_axisVariance = 0.0;
+	long m_calcCycle;
+
+private:
+	bool m_isValid;
+	Eigen::AffineCompact3d m_estimatedTransformation;
+	bool m_relativePosCalibrated = false;
+
+	/*
+	 * This affine transform estimates the pose of the target within the reference device's local pose space.
+	 * That is to say, it's given by transforming the target world pose by the inverse reference pose.
+	 */
+	Eigen::AffineCompact3d m_refToTargetPose = Eigen::AffineCompact3d::Identity();
+
+	std::deque<Sample> m_samples;
+
+	Eigen::Vector3d CalibrateRotation() const;
+	Eigen::Vector3d CalibrateTranslation(const Eigen::Matrix3d &rotation) const;
+	void CalibrateScaleOffset(const Eigen::Matrix3d &rotation, Eigen::Vector3d* out_scaleOffset, float* out_scaleFactor) const;
+
+	Eigen::AffineCompact3d ComputeCalibration() const;
+
+	double RetargetingErrorRMS(const Eigen::Vector3d& hmdToTargetPos, const Eigen::AffineCompact3d& calibration) const;
+	Eigen::Vector3d ComputeRefToTargetOffset(const Eigen::AffineCompact3d& calibration) const;
+
+	Eigen::Vector4d ComputeAxisVariance(const Eigen::AffineCompact3d& calibration) const;
+
+	bool ValidateCalibration(const Eigen::AffineCompact3d& calibration, double *errorOut = nullptr, Eigen::Vector3d* posOffsetV = nullptr);
+	void ComputeInstantOffset();
+
+	Eigen::AffineCompact3d EstimateRefToTargetPose(const Eigen::AffineCompact3d& calibration) const;
+	bool CalibrateByRelPose(Eigen::AffineCompact3d &out) const;
+};

OpenVR-SpaceCalibrator/CalibrationDebug.cpp

@@ -0,0 +1,379 @@
+#include "stdafx.h"
+
+#include <vector>
+
+#include <implot/implot.h>
+#include "CalibrationCalc.h"
+#include "CalibrationMetrics.h"
+#include "UserInterface.h"
+// ImPlotPoint (*ImPlotGetter)(void* user_data, int idx);
+namespace {
+	double refTime;
+
+	template<typename F>
+	ImPlotPoint VPIndexer(void* ptr, int idx) {
+		auto point = (*reinterpret_cast<const F*>(ptr))(idx);
+		point.x -= refTime;
+		return point;
+	}
+
+	template<typename F>
+	void PlotLineG(const char* name, const F& f, int points) {
+		const void* vp_f = &f;
+
+		if (points > 0) {
+			ImPlot::PlotLineG(name, VPIndexer<F>, const_cast<void*>(vp_f), points);
+		}
+		else {
+			double x = -INFINITY;
+			double y = 0;
+			ImPlot::PlotLine(name, &x, &y, 1);
+		}
+	}
+	
+	template<typename F, typename G>
+	void PlotShadedG(const char* name, const F& data, const G& reference, int count) {
+		const void* vp_data = &data;
+		const void* vp_reference = &reference;
+
+		if (count > 0) {
+			ImPlot::PlotShadedG(name,
+				VPIndexer<F>, const_cast<void*>(vp_data),
+				VPIndexer<G>, const_cast<void*>(vp_reference),
+				count
+			);
+		}
+		else {
+			double x = -INFINITY;
+			double y = 0;
+			ImPlot::PlotShaded(name, &x, &y, &y, 1);
+		}
+	}
+
+	void PlotLineG(const char* name, const Metrics::TimeSeries<double>& ts) {
+		PlotLineG(name, [&](int index) {
+				const auto& p = ts[index];
+				return ImPlotPoint(p.first, p.second);
+			},
+			ts.size()
+		);
+	}
+
+	void PlotVector(const char* namePrefix, const Metrics::TimeSeries<Eigen::Vector3d>& ts) {
+		std::string name(namePrefix);
+		name += "X";
+		PlotLineG(name.c_str(), [&](int index) {
+			const auto& p = ts[index];
+			return ImPlotPoint(p.first, p.second(0));
+		}, ts.size());
+
+		name.pop_back();
+		name += "Y";
+		PlotLineG(name.c_str(), [&](int index) {
+			const auto& p = ts[index];
+			return ImPlotPoint(p.first, p.second(1));
+		}, ts.size());
+
+		name.pop_back();
+		name += "Z";
+		PlotLineG(name.c_str(), [&](int index) {
+			const auto& p = ts[index];
+			return ImPlotPoint(p.first, p.second(2));
+		}, ts.size());
+	}
+
+	double lastMouseX = -INFINITY;
+	bool wasHovered;
+
+	std::vector<double> calAppliedTimeBuffer, calByRelPoseTimeBuffer;
+
+	void PrepApplyTicks() {
+		calAppliedTimeBuffer.clear();
+		calByRelPoseTimeBuffer.clear();
+
+		for (auto t : Metrics::calibrationApplied.data()) {
+			if (t.second) {
+				calAppliedTimeBuffer.push_back(t.first - refTime);
+			}
+			else {
+				calByRelPoseTimeBuffer.push_back(t.first - refTime);
+			}
+		}
+	}
+
+	void AddApplyTicks() {
+		if (calAppliedTimeBuffer.empty()) {
+			double x = -INFINITY;
+			ImPlot::PlotVLines("##CalibrationAppliedTime", &x, 1);
+		} else {
+			ImPlot::PlotVLines("##CalibrationAppliedTime", &calAppliedTimeBuffer[0], (int)calAppliedTimeBuffer.size());
+		}
+
+		if (calByRelPoseTimeBuffer.empty()) {
+			double x = -INFINITY;
+			ImPlot::PlotVLines("##CalibrationAppliedTimeByRelPose", &x, 1);
+		}
+		else {
+			ImPlot::PlotVLines("##CalibrationAppliedTimeByRelPose", &calByRelPoseTimeBuffer[0], (int)calByRelPoseTimeBuffer.size());
+		}
+
+		ImPlot::SetNextLineStyle(ImVec4(0.5, 0.5, 1, 1));
+		ImPlot::PlotVLines("##TagLine", &lastMouseX, 1);
+
+		if (ImPlot::IsPlotHovered()) {
+			auto mousePos = ImPlot::GetPlotMousePos();
+			lastMouseX = mousePos.x;
+			wasHovered = true;
+		}
+	}
+
+	struct GraphInfo {
+		const char* name;
+		void (*callback)();
+	};
+
+	void SetupXAxis() {
+		ImPlot::SetupAxisLimits(ImAxis_X1, -Metrics::TimeSpan, 0, ImGuiCond_Always);
+	}
+
+	void G_PosOffset_RawComputed() {
+		if (ImPlot::BeginPlot("##posOffsetRawComputed")) {
+			ImPlot::SetupAxes(NULL, "mm", 0, ImPlotAxisFlags_AutoFit | ImPlotAxisFlags_RangeFit);
+			SetupXAxis();
+			ImPlot::SetupAxisLimits(ImAxis_Y1, -200, 200, ImGuiCond_Appearing);
+
+			AddApplyTicks();
+
+			PlotVector("", Metrics::posOffset_rawComputed);
+
+			ImPlot::EndPlot();
+		}
+	}
+
+	void G_PosOffset_CurrentCal() {
+		if (ImPlot::BeginPlot("##posOffsetCurrentCal")) {
+			ImPlot::SetupAxes(NULL, "mm", 0, ImPlotAxisFlags_AutoFit | ImPlotAxisFlags_RangeFit);
+			SetupXAxis();
+			ImPlot::SetupAxisLimits(ImAxis_Y1, -200, 200, ImGuiCond_Appearing);
+
+			AddApplyTicks();
+
+			PlotVector("", Metrics::posOffset_currentCal);
+
+			ImPlot::EndPlot();
+		}
+	}
+
+	void G_PosOffset_LastSample() {
+		if (ImPlot::BeginPlot("##posOffsetLastSample")) {
+			ImPlot::SetupAxes(NULL, "mm", 0, ImPlotAxisFlags_AutoFit | ImPlotAxisFlags_RangeFit);
+			SetupXAxis();
+			ImPlot::SetupAxisLimits(ImAxis_Y1, -200, 200, ImGuiCond_Appearing);
+
+			AddApplyTicks();
+
+			PlotVector("", Metrics::posOffset_lastSample);
+
+			ImPlot::EndPlot();
+		}
+	}
+
+	void G_PosOffset_ByRelPose() {
+		if (ImPlot::BeginPlot("##posOffsetByRelPose")) {
+			ImPlot::SetupAxes(NULL, "mm", 0, ImPlotAxisFlags_AutoFit | ImPlotAxisFlags_RangeFit);
+			SetupXAxis();
+			ImPlot::SetupAxisLimits(ImAxis_Y1, -200, 200, ImGuiCond_Appearing);
+
+			AddApplyTicks();
+
+			PlotVector("", Metrics::posOffset_byRelPose);
+
+			ImPlot::EndPlot();
+		}
+	}
+
+	void G_PosOffset_PosError() {
+		if (ImPlot::BeginPlot("##Position error")) {
+			ImPlot::SetupAxes(NULL, "mm (RMS)");
+			SetupXAxis();
+			ImPlot::SetupAxisLimits(ImAxis_Y1, 0, 25, ImGuiCond_Appearing);
+
+			AddApplyTicks();
+
+			PlotLineG("Candidate", Metrics::error_rawComputed);
+			PlotLineG("Active", Metrics::error_currentCal);
+			PlotLineG("By Rel Pose", Metrics::error_byRelPose);
+			PlotLineG("CC Rel Pose", Metrics::error_currentCalRelPose);
+			ImPlot::EndPlot();
+		}
+	}
+
+	void G_ComputationTime() {
+		if (ImPlot::BeginPlot("##Computation Time", ImVec2(-1, 0), ImPlotFlags_NoLegend)) {
+			ImPlot::SetupAxes(NULL, "ms", 0, ImPlotAxisFlags_AutoFit | ImPlotAxisFlags_RangeFit);
+			SetupXAxis();
+			ImPlot::SetupAxisLimits(ImAxis_Y1, 0, 200, ImGuiCond_Appearing);
+
+			AddApplyTicks();
+
+			PlotLineG("Time", Metrics::computationTime);
+			ImPlot::EndPlot();
+		}
+	}
+
+	void G_AxisVariance() {
+		static bool firstrun = true;
+		static ImPlotColormap axisVarianceColormap;
+		if (firstrun) {
+			firstrun = false;
+
+			auto defaultFirst = ImPlot::GetColormapColor(0);
+
+			ImVec4 colors[] = {
+				ImPlot::GetColormapColor(0),
+				ImPlot::GetColormapColor(1),
+				{ 1, 0, 0, 1 },
+				{ 0, 1, 0, 1 },
+				{ 0.5, 0.5, 0.5, 1 },
+			};
+
+			axisVarianceColormap = ImPlot::AddColormap("AxisVarianceColormap", colors, sizeof(colors) / sizeof(colors[0]));
+		}
+
+		if (ImPlot::BeginPlot("##Axis variance", ImVec2(-1, 0), ImPlotFlags_NoLegend)) {
+			ImPlot::SetupAxes(NULL, NULL, 0, 0);
+			SetupXAxis();
+			ImPlot::SetupAxisLimits(ImAxis_Y1, 0, 0.003, ImGuiCond_Always);
+
+			AddApplyTicks();
+
+			ImPlot::PushColormap(axisVarianceColormap);
+			ImPlot::PushStyleVar(ImPlotStyleVar_FillAlpha, 0.5f);
+			ImPlot::SetNextLineStyle(ImVec4(1, 0, 0, 1));
+			PlotShadedG("##VarianceLow",
+				[&](int index) {
+					auto p = Metrics::axisIndependence[index];
+					p.second = min(p.second, CalibrationCalc::AxisVarianceThreshold);
+					return ImPlotPoint(p.first, p.second);
+				},
+				[&](int index) {
+					auto p = Metrics::axisIndependence[index];
+					return ImPlotPoint(p.first, 0);
+				},
+				Metrics::axisIndependence.size()
+			);
+
+			ImPlot::SetNextLineStyle(ImVec4(0, 1, 0, 1));
+
+			PlotShadedG("##VarianceHigh",
+				[&](int index) {
+					auto p = Metrics::axisIndependence[index];
+					p.second = max(p.second, CalibrationCalc::AxisVarianceThreshold);
+					return ImPlotPoint(p.first, p.second);
+				},
+				[&](int index) {
+					auto p = Metrics::axisIndependence[index];
+					return ImPlotPoint(p.first, CalibrationCalc::AxisVarianceThreshold);
+				},
+				Metrics::axisIndependence.size()
+			);
+
+			PlotLineG("Datapoint", Metrics::axisIndependence);
+
+			ImPlot::PopStyleVar(1);
+			ImPlot::PopColormap(1);
+
+			ImPlot::EndPlot();
+		}
+	}
+
+	const struct GraphInfo graphs[] = {
+		{ "Position Error", G_PosOffset_PosError },
+		{ "Axis Variance", G_AxisVariance },
+		{ "Offset: Raw Computed", G_PosOffset_RawComputed },
+		{ "Offset: Current Calibration", G_PosOffset_CurrentCal },
+		{ "Offset: Last Sample", G_PosOffset_LastSample },
+		{ "Offset: By Rel Pose", G_PosOffset_ByRelPose },
+		{ "Processing time", G_ComputationTime }
+	};
+
+	const int N_GRAPHS = sizeof(graphs) / sizeof(graphs[0]);
+}
+
+void PushCalibrationApplyTime() {
+	Metrics::calibrationApplied.Push(true);
+}
+
+
+void ShowCalibrationDebug(int rows, int cols) {
+	static std::vector<int> curIndexes;
+
+	//ImGui::ShowDemoWindow();
+	//ImPlot::ShowDemoWindow();
+
+	double initMouseX = lastMouseX;
+	wasHovered = false;
+
+	for (int i = (int)curIndexes.size(); i < rows * cols; i++) {
+		curIndexes.push_back(i % N_GRAPHS);
+	}
+
+	auto avail = ImGui::GetContentRegionAvail();
+
+	auto bgCol = ImGui::GetStyleColorVec4(ImGuiCol_FrameBg);
+
+	ImGui::PushStyleColor(ImGuiCol_TableRowBg, bgCol);
+	ImGui::PushStyleColor(ImGuiCol_TableRowBgAlt, bgCol);
+	ImPlot::PushStyleColor(ImPlotCol_FrameBg, ImVec4(0,0,0,0));
+
+	ImGui::SetNextWindowBgAlpha(1);
+	if (!ImGui::BeginChild("##CalibrationDebug", avail, false,
+		ImGuiWindowFlags_NoDecoration | ImGuiWindowFlags_NoFocusOnAppearing | ImGuiWindowFlags_NoTitleBar)) {
+		ImGui::EndChild();
+		return;
+	}
+
+	if (!ImGui::BeginTable("##CalibrationDebug", cols, ImGuiTableFlags_RowBg)) {
+		return;
+	}
+
+	double t = refTime = Metrics::timestamp();
+	PrepApplyTicks();
+
+	for (int r = 0; r < rows; r++) {
+		ImGui::TableNextRow();
+		for (int c = 0; c < cols; c++) {
+			int i = r * cols + c;
+			ImGui::TableSetColumnIndex(c);
+
+			ImGui::PushID(i);
+
+			ImGui::SetNextItemWidth(ImGui::GetColumnWidth());
+			if (ImGui::BeginCombo("", graphs[curIndexes[i]].name, 0)) {
+				for (int j = 0; j < N_GRAPHS; j++) {
+					bool isSelected = j == curIndexes[i];
+					if (ImGui::Selectable(graphs[j].name, isSelected)) {
+						curIndexes[i] = j;
+					}
+
+					if (isSelected) ImGui::SetItemDefaultFocus();
+				}
+				ImGui::EndCombo();
+			}
+
+			graphs[curIndexes[i]].callback();
+
+			ImGui::PopID();
+		}
+	}
+	
+	ImGui::EndTable();
+	ImGui::EndChild();
+
+	ImPlot::PopStyleColor(1);
+	ImGui::PopStyleColor(2);
+
+	if (!wasHovered) {
+		lastMouseX = -INFINITY;
+	}
+}

OpenVR-SpaceCalibrator/CalibrationMetrics.cpp

@@ -0,0 +1,215 @@
+#include "stdafx.h"
+#include "CalibrationMetrics.h"
+#include <shlobj_core.h>
+#include <fstream>
+#include <vector>
+
+namespace Metrics {
+	double TimeSpan = 30, CurrentTime;
+
+	TimeSeries<Eigen::Vector3d> posOffset_rawComputed; // , rotOffset_rawComputed;
+	TimeSeries<Eigen::Vector3d> posOffset_currentCal; // , rotOffset_currentCal;
+	TimeSeries<Eigen::Vector3d> posOffset_lastSample; // , rotOffset_lastSample;
+	TimeSeries<Eigen::Vector3d> posOffset_byRelPose;
+
+	TimeSeries<double> error_rawComputed, error_currentCal, error_byRelPose, error_currentCalRelPose;
+	TimeSeries<double> axisIndependence;
+	TimeSeries<double> computationTime;
+
+	// true - full calibration, false - static calibration
+	TimeSeries<bool> calibrationApplied;
+
+	double timestamp() {
+		static long long ts_start = ~0LL;
+		
+		LARGE_INTEGER ts, freq;
+		QueryPerformanceCounter(&ts);
+		QueryPerformanceFrequency(&freq);
+
+		if (ts_start == ~0LL) ts_start = ts.QuadPart;
+
+		ts.QuadPart -= ts_start;
+
+		return ts.QuadPart / (double)freq.QuadPart;
+	}
+
+	void RecordTimestamp() {
+		CurrentTime = timestamp();
+	}
+
+	bool enableLogs = false;
+
+	static std::ofstream logFile;
+	static bool logFileIsOpen = false;
+	static bool failedToOpenLogFile = false;
+
+	struct CsvField {
+		const char* name;
+		void (*writer)(std::ofstream& s);
+	};
+
+#define TS_FIELD(n) \
+	{ #n, [](auto &s) { s << n.last(); } }
+	
+#define TS_VECTOR_FIELD(n) \
+	{ #n ".x", [](auto &s) { s << n.last()(0); } }, \
+	{ #n ".y", [](auto &s) { s << n.last()(1); } }, \
+	{ #n ".z", [](auto &s) { s << n.last()(2); } }
+
+	static const CsvField fields[] = {
+		{
+			"Timestamp",
+			[](auto& s) { s << CurrentTime; }
+		},
+
+		TS_VECTOR_FIELD(posOffset_rawComputed),
+		TS_VECTOR_FIELD(posOffset_currentCal),
+		TS_VECTOR_FIELD(posOffset_lastSample),
+		TS_VECTOR_FIELD(posOffset_byRelPose),
+		
+		TS_FIELD(error_rawComputed),
+		TS_FIELD(error_currentCal),
+		TS_FIELD(error_byRelPose),
+		TS_FIELD(error_currentCalRelPose),
+		TS_FIELD(axisIndependence),
+		TS_FIELD(computationTime),
+
+		{
+			"calibrationApplied", 
+			[](auto& s) {
+				if (calibrationApplied.lastTs() == CurrentTime) {
+					if (calibrationApplied.last()) {
+						s << "FULL";
+					}
+					else {
+						s << "STATIC";
+					}
+				}
+			}
+		}
+	};
+	
+	
+	static void ClearOldLogs(const std::wstring& path) {
+		std::wstring search_path = path + L"\\spacecal_log.*.txt";
+		WIN32_FIND_DATA find_data;
+
+		SYSTEMTIME st_now;
+		FILETIME ft_now;
+		GetSystemTime(&st_now);
+		SystemTimeToFileTime(&st_now, &ft_now);
+
+		ULARGE_INTEGER ft_tmp;
+		ft_tmp.HighPart = ft_now.dwHighDateTime;
+		ft_tmp.LowPart = ft_now.dwLowDateTime;
+		// one day ago
+		uint64_t limit = ft_tmp.QuadPart - (uint64_t)(24LL * 3600LL * 10LL * 1000LL * 1000LL);
+
+		HANDLE find_handle = FindFirstFile(search_path.c_str(), &find_data);
+		if (find_handle != INVALID_HANDLE_VALUE) {
+			do {
+				ft_tmp.HighPart = find_data.ftLastWriteTime.dwHighDateTime;
+				ft_tmp.LowPart = find_data.ftLastWriteTime.dwLowDateTime;
+				if (ft_tmp.QuadPart < limit) {
+					std::wstring file_path = path + L"\\" + find_data.cFileName;
+					DeleteFile(file_path.c_str());
+				}
+			} while (FindNextFile(find_handle, &find_data));
+			FindClose(find_handle);
+		}
+	}
+
+	static bool OpenLogFile() {
+		PWSTR RootPath = NULL;
+		if (S_OK != SHGetKnownFolderPath(FOLDERID_LocalAppDataLow, 0, NULL, &RootPath)) {
+			CoTaskMemFree(RootPath);
+			return false;
+		}
+
+		std::wstring path(RootPath);
+		CoTaskMemFree(RootPath);
+		
+		path += LR"(\OpenVR-SpaceCalibrator)";
+		if (CreateDirectoryW(path.c_str(), 0) == 0 && GetLastError() != ERROR_ALREADY_EXISTS) {
+			return false;
+		}
+
+		path += LR"(\Logs)";
+		if (CreateDirectoryW(path.c_str(), 0) == 0 && GetLastError() != ERROR_ALREADY_EXISTS) {
+			return false;
+		}
+
+		ClearOldLogs(path);
+
+		SYSTEMTIME now;
+		GetSystemTime(&now);
+
+		size_t dateBufLen = GetDateFormatW(LOCALE_USER_DEFAULT, 0, &now, L"yyyy-MM-dd", NULL, 0);
+		std::vector<WCHAR> dateBuf(dateBufLen);
+		if (!GetDateFormatEx(LOCALE_NAME_INVARIANT, 0, &now, L"yyyy-MM-dd", &dateBuf[0], dateBufLen, NULL)) return false;
+		
+		size_t timeBufLen = GetTimeFormatW(LOCALE_USER_DEFAULT, 0, &now, L"HH-mm-ss", NULL, 0);
+		std::vector<WCHAR> timeBuf(timeBufLen);
+		if (!GetTimeFormatEx(LOCALE_NAME_INVARIANT, 0, &now, L"HH-mm-ss", &timeBuf[0], timeBufLen)) return false;
+
+		path += LR"(\spacecal_log.)";
+		path += &dateBuf[0];
+		path += L"T";
+		path += &timeBuf[0];
+		path += L".txt";
+
+		logFile.open(path);
+		if (logFile.fail()) {
+			return false;
+		}
+
+		for (int i = 0; i < sizeof fields / sizeof fields[0]; i++) {
+			if (i > 0) logFile << ",";
+			logFile << fields[i].name;
+		}
+		logFile << "\n";
+
+		logFileIsOpen = true;
+
+		return true;
+	}
+	
+	static bool CheckLogOpen() {
+		if (!enableLogs) {
+			if (logFileIsOpen) {
+				logFile.close();
+			}
+			logFileIsOpen = false;
+			failedToOpenLogFile = false;
+
+			return false;
+		}
+
+		if (failedToOpenLogFile) return false;
+		if (!logFileIsOpen && !OpenLogFile()) {
+			failedToOpenLogFile = true;
+			return false;
+		}
+		return true;
+	}
+
+	void WriteLogAnnotation(const char *s) {
+		if (!CheckLogOpen()) return;
+
+		logFile << "# [" << timestamp() << "] " << s << "\n";
+		logFile.flush();
+	}
+
+	void WriteLogEntry() {
+		if (!CheckLogOpen()) return;
+
+		if (logFileIsOpen) {
+			for (int i = 0; i < sizeof fields / sizeof fields[0]; i++) {
+				if (i > 0) logFile << ",";
+				fields[i].writer(logFile);
+			}
+			logFile << "\n";
+		}
+		logFile.flush();
+	}
+}

OpenVR-SpaceCalibrator/CalibrationMetrics.h

@@ -0,0 +1,58 @@
+#pragma once
+
+#include <deque>
+#include <utility>
+#include <Eigen/Dense>
+
+namespace Metrics {
+	extern double TimeSpan, CurrentTime;
+
+	double timestamp();
+	void RecordTimestamp();
+
+	template<typename T>
+	class TimeSeries {
+		std::deque<std::pair<double, T>> Data;
+		
+	public:
+		const std::deque<std::pair<double, T>> &data() const { return Data; }
+
+		void Push(const T& data) {
+			Data.push_back(std::make_pair(CurrentTime, data));
+
+			double cutoff = CurrentTime - TimeSpan;
+			while (!Data.empty() && (Data.front().first < cutoff || Data.size() > INT_MAX)) {
+				Data.pop_front();
+			}
+		}
+
+		int size() const { return (int)Data.size(); }
+		const std::pair<double, T>& operator[](int index) const { return Data[index]; }
+
+		const T& last() const {
+			static const T fallback;
+			return Data.size() > 0 ? Data.back().second : fallback;
+		}
+
+		const double lastTs() const {
+			return Data.size() > 0 ? Data.back().first : 0;
+		}
+	};
+
+
+	extern TimeSeries<Eigen::Vector3d> posOffset_rawComputed; // , rotOffset_rawComputed;
+	extern TimeSeries<Eigen::Vector3d> posOffset_currentCal; // , rotOffset_currentCal;
+	extern TimeSeries<Eigen::Vector3d> posOffset_lastSample; // , rotOffset_lastSample;
+	extern TimeSeries<Eigen::Vector3d> posOffset_byRelPose;
+	
+	extern TimeSeries<double> error_rawComputed, error_currentCal, error_byRelPose, error_currentCalRelPose;
+	extern TimeSeries<double> axisIndependence;
+	extern TimeSeries<double> computationTime;
+
+	extern TimeSeries<bool> calibrationApplied;
+
+	extern bool enableLogs;
+
+	void WriteLogAnnotation(const char* s);
+	void WriteLogEntry();
+}

OpenVR-SpaceCalibrator/Configuration.cpp

@@ -32,6 +32,62 @@ static void LoadFloatArray(const picojson::value &obj, float *buf, int numFloats
 		buf[i] = (float) arr[i].get<double>();
 }
 
+static void LoadStandby(StandbyDevice& device, picojson::value& value) {
+	if (!value.is<picojson::object>()) return;
+	auto& obj = value.get<picojson::object>();
+	
+	const auto &system = obj["tracking_system"];
+	if (system.is<std::string>()) device.trackingSystem = system.get<std::string>();
+
+	const auto& model = obj["model"];
+	if (model.is<std::string>()) device.model = model.get<std::string>();
+
+	const auto& serial = obj["serial"];
+	if (serial.is<std::string>()) device.serial = serial.get<std::string>();
+}
+
+static void VisitAlignmentParams(CalibrationContext& ctx, std::function<void(const char *, double&)> MapParam) {
+#define P(s) MapParam(#s, ctx.alignmentSpeedParams.s)
+	P(align_speed_tiny);
+	P(align_speed_small);
+	P(align_speed_large);
+	P(thr_trans_tiny);
+	P(thr_trans_small);
+	P(thr_trans_large);
+	P(thr_rot_tiny);
+	P(thr_rot_small);
+	P(thr_rot_large);
+	
+	// Convert to double and back
+	double tmp = ctx.continuousCalibrationThreshold;
+	MapParam("continuousCalibrationThreshold", tmp);
+	ctx.continuousCalibrationThreshold = (float)tmp;
+}
+
+static void LoadAlignmentParams(CalibrationContext& ctx, picojson::value& value) {
+	ctx.ResetConfig();
+	
+	if (!value.is<picojson::object>()) return;
+	auto& obj = value.get<picojson::object>();
+	
+	VisitAlignmentParams(ctx, [&](auto name, auto& param) {
+		const picojson::value& node = obj[name];
+		if (node.is<double>()) {
+			param = (float)node.get<double>();
+		}
+	});
+}
+
+static picojson::object SaveAlignmentParams(CalibrationContext& ctx) {
+	picojson::object obj;
+
+	VisitAlignmentParams(ctx, [&](auto name, auto& param) {
+		obj[name].set<double>(param);
+	});
+
+	return obj;
+}
+
 static void ParseProfile(CalibrationContext &ctx, std::istream &stream)
 {
 	picojson::value v;
@@ -45,6 +101,7 @@ static void ParseProfile(CalibrationContext &ctx, std::istream &stream)
 
 	auto obj = arr[0].get<picojson::object>();
 
+	LoadAlignmentParams(ctx, obj["alignment_params"]);
 	ctx.referenceTrackingSystem = obj["reference_tracking_system"].get<std::string>();
 	ctx.targetTrackingSystem = obj["target_tracking_system"].get<std::string>();
 	ctx.calibratedRotation(0) = obj["roll"].get<double>();
@@ -53,6 +110,21 @@ static void ParseProfile(CalibrationContext &ctx, std::istream &stream)
 	ctx.calibratedTranslation(0) = obj["x"].get<double>();
 	ctx.calibratedTranslation(1) = obj["y"].get<double>();
 	ctx.calibratedTranslation(2) = obj["z"].get<double>();
+	LoadStandby(ctx.referenceStandby, obj["reference_device"]);
+	LoadStandby(ctx.targetStandby, obj["target_device"]);
+	if (obj["autostart_continuous_calibration"].evaluate_as_boolean()) {
+		ctx.state = CalibrationState::ContinuousStandby;
+	}
+	ctx.quashTargetInContinuous = obj["quash_target_in_continuous"].evaluate_as_boolean();
+	ctx.requireTriggerPressToApply = obj["require_trigger_press_to_apply"].evaluate_as_boolean();
+	ctx.continuousCalibrationOffset(0) = obj["continuous_calibration_target_offset_x"].get<double>();
+	ctx.continuousCalibrationOffset(1) = obj["continuous_calibration_target_offset_y"].get<double>();
+	ctx.continuousCalibrationOffset(2) = obj["continuous_calibration_target_offset_z"].get<double>();
+
+	if (obj["scale"].is<double>())
+		ctx.calibratedScale = obj["scale"].get<double>();
+	else
+		ctx.calibratedScale = 1.0;
 
 	if (obj["calibration_speed"].is<double>())
 		ctx.calibrationSpeed = (CalibrationContext::Speed)(int) obj["calibration_speed"].get<double>();
@@ -83,16 +155,58 @@ static void ParseProfile(CalibrationContext &ctx, std::istream &stream)
 			ctx.chaperone.valid = true;
 		}
 	}
+	if (obj["relative_pos_calibrated"].is<bool>()) {
+		ctx.relativePosCalibrated = obj["relative_pos_calibrated"].get<bool>();
+	}
+	if (obj["lock_relative_position"].is<bool>()) {
+		ctx.lockRelativePosition = obj["lock_relative_position"].get<bool>();
+	}
+	if (obj["relative_transform"].is<picojson::object>()) {
+		auto relTransform = obj["relative_transform"].get<picojson::object>();
+		Eigen::Vector3d refToTragetRoation;
+		Eigen::Vector3d refToTargetTranslation;
+
+		refToTragetRoation(0) = relTransform["roll"].get<double>();
+		refToTragetRoation(1) = relTransform["yaw"].get<double>();
+		refToTragetRoation(2) = relTransform["pitch"].get<double>();
+		refToTargetTranslation(0) = relTransform["x"].get<double>();
+		refToTargetTranslation(1) = relTransform["y"].get<double>();
+		refToTargetTranslation(2) = relTransform["z"].get<double>();
+
+        Eigen::Matrix3d rotationMatrix;
+        rotationMatrix =
+            Eigen::AngleAxisd(refToTragetRoation[0], Eigen::Vector3d::UnitX()) *
+            Eigen::AngleAxisd(refToTragetRoation[1], Eigen::Vector3d::UnitY()) *
+            Eigen::AngleAxisd(refToTragetRoation[2], Eigen::Vector3d::UnitZ());
+
+		ctx.refToTargetPose = Eigen::AffineCompact3d::Identity();
+        ctx.refToTargetPose.linear() = rotationMatrix;
+        ctx.refToTargetPose.translation() = refToTargetTranslation;
+	}
 
 	ctx.validProfile = true;
 }
 
+
+static void WriteStandby(StandbyDevice& device, picojson::value& value) {
+	auto obj = picojson::object();
+
+	obj["tracking_system"].set<std::string>(device.trackingSystem);
+	obj["model"].set<std::string>(device.model);
+	obj["serial"].set<std::string>(device.serial);
+
+	value.set<picojson::object>(obj);
+}
+
+
 static void WriteProfile(CalibrationContext &ctx, std::ostream &out)
 {
 	if (!ctx.validProfile)
 		return;
 
 	picojson::object profile;
+	profile["alignment_params"].set<picojson::object>(SaveAlignmentParams(ctx));
+	
 	profile["reference_tracking_system"].set<std::string>(ctx.referenceTrackingSystem);
 	profile["target_tracking_system"].set<std::string>(ctx.targetTrackingSystem);
 	profile["roll"].set<double>(ctx.calibratedRotation(0));
@@ -101,6 +215,16 @@ static void WriteProfile(CalibrationContext &ctx, std::ostream &out)
 	profile["x"].set<double>(ctx.calibratedTranslation(0));
 	profile["y"].set<double>(ctx.calibratedTranslation(1));
 	profile["z"].set<double>(ctx.calibratedTranslation(2));
+	profile["scale"].set<double>(ctx.calibratedScale);
+	WriteStandby(ctx.referenceStandby, profile["reference_device"]);
+	WriteStandby(ctx.targetStandby, profile["target_device"]);
+	bool isInContinuousCalibrationMode = ctx.state == CalibrationState::Continuous || ctx.state == CalibrationState::ContinuousStandby;
+	profile["autostart_continuous_calibration"].set<bool>(isInContinuousCalibrationMode);
+	profile["quash_target_in_continuous"].set<bool>(ctx.quashTargetInContinuous);
+	profile["require_trigger_press_to_apply"].set<bool>(ctx.requireTriggerPressToApply);
+	profile["continuous_calibration_target_offset_x"].set<double>(ctx.continuousCalibrationOffset(0));
+	profile["continuous_calibration_target_offset_y"].set<double>(ctx.continuousCalibrationOffset(1));
+	profile["continuous_calibration_target_offset_z"].set<double>(ctx.continuousCalibrationOffset(2));
 
 	double speed = (int) ctx.calibrationSpeed;
 	profile["calibration_speed"].set<double>(speed);
@@ -124,6 +248,19 @@ static void WriteProfile(CalibrationContext &ctx, std::ostream &out)
 		profile["chaperone"].set<picojson::object>(chaperone);
 	}
 
+	Eigen::Vector3d refToTragetRoation = ctx.refToTargetPose.rotation().eulerAngles(0, 1, 2);
+	Eigen::Vector3d refToTargetTranslation = ctx.refToTargetPose.translation();
+	picojson::object refToTarget;
+	refToTarget["x"].set<double>(refToTargetTranslation(0));
+	refToTarget["y"].set<double>(refToTargetTranslation(1));
+	refToTarget["z"].set<double>(refToTargetTranslation(2));
+	refToTarget["roll"].set<double>(refToTragetRoation(0));
+	refToTarget["yaw"].set<double>(refToTragetRoation(1));
+	refToTarget["pitch"].set<double>(refToTragetRoation(2));
+	profile["relative_pos_calibrated"].set<bool>(ctx.relativePosCalibrated);
+	profile["lock_relative_position"].set<bool>(ctx.lockRelativePosition);
+	profile["relative_transform"].set<picojson::object>(refToTarget);
+
 	picojson::value profileV;
 	profileV.set<picojson::object>(profile);
 
@@ -190,12 +327,18 @@ static void WriteRegistryKey(std::string str)
 
 void LoadProfile(CalibrationContext &ctx)
 {
+	// @TODO: Rewrite this to migrate configs from the registry to the spacecal directory
+	//        I don't know why whoever wrote this thought writing to the registry in the 2020s was a good idea...
+	//        NOTE: HKEY_CURRENT_USER_LOCAL_SETTINGS evaluates to	HKCU\Software\Classes\Local Settings
+	//              Settings are currently stored at				HKCU\Software\Classes\Local Settings\Software\OpenVR-SpaceCalibrator
+
 	ctx.validProfile = false;
 
 	auto str = ReadRegistryKey();
 	if (str == "")
 	{
 		std::cout << "Profile is empty" << std::endl;
+		ctx.Clear();
 		return;
 	}
 

OpenVR-SpaceCalibrator/Header.h

@@ -0,0 +1 @@
+#pragma once

OpenVR-SpaceCalibrator/IPCClient.cpp

@@ -3,17 +3,24 @@
 
 #include <string>
 
+std::string WStringToString(const std::wstring& wstr)
+{
+	int size_needed = WideCharToMultiByte(CP_UTF8, 0, &wstr[0], (int)wstr.size(), NULL, 0, NULL, NULL);
+	std::string str_to(size_needed, 0);
+	WideCharToMultiByte(CP_UTF8, 0, &wstr[0], (int)wstr.size(), &str_to[0], size_needed, NULL, NULL);
+	return str_to;
+}
+
 static std::string LastErrorString(DWORD lastError)
 {
-	LPSTR buffer = nullptr;
-	size_t size = FormatMessageA(
+	LPWSTR buffer = nullptr;
+	size_t size = FormatMessageW(
 		FORMAT_MESSAGE_ALLOCATE_BUFFER | FORMAT_MESSAGE_FROM_SYSTEM | FORMAT_MESSAGE_IGNORE_INSERTS,
-		NULL, lastError, MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT), (LPSTR)&buffer, 0, NULL
+		NULL, lastError, MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT), (LPWSTR)&buffer, 0, NULL
 	);
-
-	std::string message(buffer, size);
+	std::wstring message(buffer, size);
 	LocalFree(buffer);
-	return message;
+	return WStringToString(message);
 }
 
 IPCClient::~IPCClient()
@@ -31,13 +38,14 @@ void IPCClient::Connect()
 
 	if (pipe == INVALID_HANDLE_VALUE)
 	{
-		throw std::runtime_error("Space Calibrator driver unavailable, is SteamVR running and not in safe mode? Error: " + LastErrorString(GetLastError()));
+		throw std::runtime_error("Space Calibrator driver unavailable. Make sure SteamVR is running, and the Space Calibrator addon is enabled in SteamVR settings.");
 	}
 
 	DWORD mode = PIPE_READMODE_MESSAGE;
 	if (!SetNamedPipeHandleState(pipe, &mode, 0, 0))
 	{
-		throw std::runtime_error("Couldn't set pipe mode. Error: " + LastErrorString(GetLastError()));
+		DWORD lastError = GetLastError();
+		throw std::runtime_error("Couldn't set pipe mode. Error " + std::to_string(lastError) + ": " + LastErrorString(lastError));
 	}
 
 	auto response = SendBlocking(protocol::Request(protocol::RequestHandshake));
@@ -65,7 +73,8 @@ void IPCClient::Send(const protocol::Request &request)
 	BOOL success = WriteFile(pipe, &request, sizeof request, &bytesWritten, 0);
 	if (!success)
 	{
-		throw std::runtime_error("Error writing IPC request. Error: " + LastErrorString(GetLastError()));
+		DWORD lastError = GetLastError();
+		throw std::runtime_error("Error writing IPC request. Error " + std::to_string(lastError) + ": " + LastErrorString(lastError));
 	}
 }
 
@@ -80,13 +89,13 @@ protocol::Response IPCClient::Receive()
 		DWORD lastError = GetLastError();
 		if (lastError != ERROR_MORE_DATA)
 		{
-			throw std::runtime_error("Error reading IPC response. Error: " + LastErrorString(lastError));
+			throw std::runtime_error("Error reading IPC response. Error " + std::to_string(lastError) + ": " + LastErrorString(lastError));
 		}
 	}
 
 	if (bytesRead != sizeof response)
 	{
-		throw std::runtime_error("Invalid IPC response with size " + std::to_string(bytesRead));
+		throw std::runtime_error("Invalid IPC response. Error SIZE_MISMATCH, got size " + std::to_string(bytesRead));
 	}
 
 	return response;

OpenVR-SpaceCalibrator/MathUtils.h

@@ -0,0 +1 @@
+#pragma once

OpenVR-SpaceCalibrator/OpenVR-SpaceCalibrator.cpp

@@ -1,16 +1,21 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include "Calibration.h"
 #include "Configuration.h"
 #include "EmbeddedFiles.h"
 #include "UserInterface.h"
 
 #include <imgui/imgui.h>
+#include <imgui/imgui_internal.h>
 #include <imgui/imgui_impl_glfw.h>
 #include <imgui/imgui_impl_opengl3.h>
+#include <implot/implot.h>
 #include <GL/gl3w.h>
 #include <GLFW/glfw3.h>
 #include <openvr.h>
 #include <direct.h>
+#include <chrono>
+#include <thread>
+
 
 #pragma comment(linker,"\"/manifestdependency:type='win32' \
 name='Microsoft.Windows.Common-Controls' version='6.0.0.0' \
@@ -18,6 +23,9 @@ processorArchitecture='*' publicKeyToken='6595b64144ccf1df' language='*'\"")
 
 #define OPENVR_APPLICATION_KEY "pushrax.SpaceCalibrator"
 
+extern "C" __declspec(dllexport) DWORD NvOptimusEnablement = 0x00000001;
+extern "C" __declspec(dllexport) DWORD AmdPowerXpressRequestHighPerformance = 0x00000001;
+
 void CreateConsole()
 {
 	static bool created = false;
@@ -32,11 +40,17 @@ void CreateConsole()
 	}
 }
 
+//#define DEBUG_LOGS
+
 void GLFWErrorCallback(int error, const char* description)
 {
 	fprintf(stderr, "GLFW Error %d: %s\n", error, description);
 }
 
+void openGLDebugCallback(GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *message, const void *userParam)
+{
+	fprintf(stderr, "OpenGL Debug %u: %.*s\n", id, length, message);
+}
 
 static void HandleCommandLine(LPWSTR lpCmdLine);
 
@@ -46,6 +60,7 @@ static GLuint fboHandle = 0, fboTextureHandle = 0;
 static int fboTextureWidth = 0, fboTextureHeight = 0;
 
 static char cwd[MAX_PATH];
+const float MINIMIZED_MAX_FPS = 60.0f;
 
 void CreateGLFWWindow()
 {
@@ -54,6 +69,10 @@ void CreateGLFWWindow()
 	glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
 	glfwWindowHint(GLFW_RESIZABLE, false);
 
+#ifdef DEBUG_LOGS
+	glfwWindowHint(GLFW_OPENGL_DEBUG_CONTEXT, GL_TRUE);
+#endif
+
 	fboTextureWidth = 1200;
 	fboTextureHeight = 800;
 
@@ -67,8 +86,14 @@ void CreateGLFWWindow()
 
 	glfwIconifyWindow(glfwWindow);
 
+#ifdef DEBUG_LOGS
+	glDebugMessageCallback(openGLDebugCallback, nullptr);
+	glEnable(GL_DEBUG_OUTPUT);
+#endif
+
 	ImGui::CreateContext();
-	ImGuiIO& io = ImGui::GetIO();
+	ImPlot::CreateContext();
+	ImGuiIO &io = ImGui::GetIO();
 	io.ConfigFlags |= ImGuiConfigFlags_NavEnableKeyboard;
 	io.ConfigFlags |= ImGuiConfigFlags_NavEnableGamepad;
 	io.IniFilename = nullptr;
@@ -81,7 +106,7 @@ void CreateGLFWWindow()
 
 	glGenTextures(1, &fboTextureHandle);
 	glBindTexture(GL_TEXTURE_2D, fboTextureHandle);
-	glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, fboTextureWidth, fboTextureHeight, 0, GL_RGBA, GL_UNSIGNED_BYTE, 0);
+	glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA8, fboTextureWidth, fboTextureHeight, 0, GL_RGBA, GL_UNSIGNED_BYTE, 0);
 	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
 	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
 
@@ -184,6 +209,14 @@ void InitVR()
 	ActivateMultipleDrivers();
 }
 
+static char textBuf[0x400];
+
+static bool immediateRedraw;
+void RequestImmediateRedraw() {
+	immediateRedraw = true;
+}
+
+double lastFrameStartTime = glfwGetTime();
 void RunLoop()
 {
 	while (!glfwWindowShouldClose(glfwWindow))
@@ -196,6 +229,7 @@ void RunLoop()
 		bool dashboardVisible = false;
 		int width, height;
 		glfwGetFramebufferSize(glfwWindow, &width, &height);
+		const bool windowVisible = (width > 0 && height > 0);
 
 		if (overlayMainHandle && vr::VROverlay())
 		{
@@ -223,16 +257,22 @@ void RunLoop()
 			}
 			else if (io.WantTextInput && !keyboardOpen && !keyboardJustClosed)
 			{
-				char buf[0x400];
-				ImGui::GetActiveText(buf, sizeof buf);
-				buf[0x3ff] = 0;
-				uint32_t unFlags = 0; // EKeyboardFlags 
+				int id = ImGui::GetActiveID();
+				auto textInfo = ImGui::GetInputTextState(id);
 
-				vr::VROverlay()->ShowKeyboardForOverlay(
-					overlayMainHandle, vr::k_EGamepadTextInputModeNormal, vr::k_EGamepadTextInputLineModeSingleLine,
-					unFlags, "Space Calibrator Overlay", sizeof buf, buf, 0
-				);
-				keyboardOpen = true;
+				if (textInfo != nullptr) {
+					textBuf[0] = 0;
+					int len = WideCharToMultiByte(CP_ACP, 0, (LPCWCH)textInfo->TextW.Data, textInfo->TextW.Size, textBuf, sizeof(textBuf), NULL, NULL);
+					textBuf[min(len, sizeof(textBuf) - 1)] = 0;
+
+					uint32_t unFlags = 0; // EKeyboardFlags 
+
+					vr::VROverlay()->ShowKeyboardForOverlay(
+						overlayMainHandle, vr::k_EGamepadTextInputModeNormal, vr::k_EGamepadTextInputLineModeSingleLine,
+						unFlags, "Space Calibrator Overlay", sizeof textBuf, textBuf, 0
+					);
+					keyboardOpen = true;
+				}
 			}
 
 			vr::VREvent_t vrEvent;
@@ -240,23 +280,32 @@ void RunLoop()
 			{
 				switch (vrEvent.eventType) {
 				case vr::VREvent_MouseMove:
-					io.MousePos.x = vrEvent.data.mouse.x;
-					io.MousePos.y = vrEvent.data.mouse.y;
+					io.AddMousePosEvent(vrEvent.data.mouse.x, vrEvent.data.mouse.y);
 					break;
 				case vr::VREvent_MouseButtonDown:
-					io.MouseDown[vrEvent.data.mouse.button == vr::VRMouseButton_Left ? 0 : 1] = true;
+					io.AddMouseButtonEvent(vrEvent.data.mouse.button == vr::VRMouseButton_Left ? 0 : 1, true);
 					break;
 				case vr::VREvent_MouseButtonUp:
-					io.MouseDown[vrEvent.data.mouse.button == vr::VRMouseButton_Left ? 0 : 1] = false;
+					io.AddMouseButtonEvent(vrEvent.data.mouse.button == vr::VRMouseButton_Left ? 0 : 1, false);
 					break;
 				case vr::VREvent_ScrollDiscrete:
-					io.MouseWheelH += vrEvent.data.scroll.xdelta * 360.0f * 8.0f;
-					io.MouseWheel += vrEvent.data.scroll.ydelta * 360.0f * 8.0f;
+				{
+					float x = vrEvent.data.scroll.xdelta * 360.0f * 8.0f;
+					float y = vrEvent.data.scroll.ydelta * 360.0f * 8.0f;
+					io.AddMouseWheelEvent(x, y);
 					break;
+				}
 				case vr::VREvent_KeyboardDone: {
-					char buf[0x400];
-					vr::VROverlay()->GetKeyboardText(buf, sizeof buf);
-					ImGui::SetActiveText(buf, sizeof buf);
+					vr::VROverlay()->GetKeyboardText(textBuf, sizeof textBuf);
+
+					int id = ImGui::GetActiveID();
+					auto textInfo = ImGui::GetInputTextState(id);
+					int bufSize = MultiByteToWideChar(CP_ACP, 0, textBuf, -1, NULL, 0);
+					textInfo->TextW.resize(bufSize);
+					MultiByteToWideChar(CP_ACP, 0, textBuf, -1, (LPWSTR)textInfo->TextW.Data, bufSize);
+					textInfo->CurLenW = bufSize;
+					textInfo->CurLenA = WideCharToMultiByte(CP_UTF8, 0, (LPCWCH)textInfo->TextW.Data, textInfo->TextW.Size, NULL, 0, NULL, NULL);
+					
 					keyboardJustClosed = true;
 					break;
 				}
@@ -265,59 +314,85 @@ void RunLoop()
 				}
 			}
 		}
-
-		ImGui::GetIO().DisplaySize = ImVec2((float) fboTextureWidth, (float) fboTextureHeight);
-
-		ImGui_ImplGlfw_SetReadMouseFromGlfw(!dashboardVisible);
-		ImGui_ImplOpenGL3_NewFrame();
-		ImGui_ImplGlfw_NewFrame();
-		ImGui::NewFrame();
-
-		BuildMainWindow(dashboardVisible);
-
-		ImGui::Render();
-
-		glBindFramebuffer(GL_FRAMEBUFFER, fboHandle);
-		glViewport(0, 0, fboTextureWidth, fboTextureHeight);
-		glClearColor(0, 0, 0, 1);
-		glClear(GL_COLOR_BUFFER_BIT);
-
-		ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
-
-		glBindFramebuffer(GL_FRAMEBUFFER, 0);
-
-		if (width && height)
+		
+		if (windowVisible || dashboardVisible)
 		{
-			glBindFramebuffer(GL_READ_FRAMEBUFFER, fboHandle);
-			glBlitFramebuffer(0, 0, width, height, 0, 0, width, height, GL_COLOR_BUFFER_BIT, GL_NEAREST);
-			glfwSwapBuffers(glfwWindow);
-		}
+			auto &io = ImGui::GetIO();
+			io.DisplaySize = ImVec2((float) fboTextureWidth, (float) fboTextureHeight);
+			io.DisplayFramebufferScale = ImVec2(1.0f, 1.0f);
 
-		if (dashboardVisible)
-		{
-			vr::Texture_t vrTex;
-			vrTex.eType = vr::TextureType_OpenGL;
-			vrTex.eColorSpace = vr::ColorSpace_Linear;
+			io.ConfigFlags = io.ConfigFlags & ~ImGuiConfigFlags_NoMouseCursorChange;
+			if (dashboardVisible) {
+				io.ConfigFlags = io.ConfigFlags | ImGuiConfigFlags_NoMouseCursorChange;
+			}
+			ImGui_ImplOpenGL3_NewFrame();
+			ImGui_ImplGlfw_NewFrame();
+			ImGui::NewFrame();
 
-			vrTex.handle = (void *)
+			BuildMainWindow(dashboardVisible);
+
+			ImGui::Render();
+
+			glBindFramebuffer(GL_FRAMEBUFFER, fboHandle);
+			glViewport(0, 0, fboTextureWidth, fboTextureHeight);
+			glClearColor(0, 0, 0, 1);
+			glClear(GL_COLOR_BUFFER_BIT);
+
+			ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
+
+			glBindFramebuffer(GL_FRAMEBUFFER, 0);
+
+			if (width && height)
+			{
+				glBindFramebuffer(GL_READ_FRAMEBUFFER, fboHandle);
+				glBlitFramebuffer(0, 0, width, height, 0, 0, width, height, GL_COLOR_BUFFER_BIT, GL_NEAREST);
+				glfwSwapBuffers(glfwWindow);
+			}
+
+			if (dashboardVisible)
+			{
+				vr::Texture_t vrTex;
+				vrTex.eType = vr::TextureType_OpenGL;
+				vrTex.eColorSpace = vr::ColorSpace_Auto;
+
+				vrTex.handle = (void *)
 #if defined _WIN64 || defined _LP64
-			(uint64_t)
+				(uint64_t)
 #endif
-				fboTextureHandle;
+					fboTextureHandle;
 
-			vr::HmdVector2_t mouseScale = { (float) fboTextureWidth, (float) fboTextureHeight };
+				vr::HmdVector2_t mouseScale = { (float) fboTextureWidth, (float) fboTextureHeight };
 
-			vr::VROverlay()->SetOverlayTexture(overlayMainHandle, &vrTex);
-			vr::VROverlay()->SetOverlayMouseScale(overlayMainHandle, &mouseScale);
+				vr::VROverlay()->SetOverlayTexture(overlayMainHandle, &vrTex);
+				vr::VROverlay()->SetOverlayMouseScale(overlayMainHandle, &mouseScale);
+			}
 		}
 
 		const double dashboardInterval = 1.0 / 90.0; // fps
-		double waitEventsTimeout = CalCtx.wantedUpdateInterval;
+		double waitEventsTimeout = max(CalCtx.wantedUpdateInterval, dashboardInterval);
 
 		if (dashboardVisible && waitEventsTimeout > dashboardInterval)
 			waitEventsTimeout = dashboardInterval;
 
+		if (immediateRedraw) {
+			waitEventsTimeout = 0;
+			immediateRedraw = false;
+		}
+
 		glfwWaitEventsTimeout(waitEventsTimeout);
+
+		// If we're minimized rendering won't limit our frame rate so we need to do it ourselves.
+		if (glfwGetWindowAttrib(glfwWindow, GLFW_ICONIFIED))
+		{
+			double targetFrameTime = 1 / MINIMIZED_MAX_FPS;
+			double waitTime = targetFrameTime - (glfwGetTime() - lastFrameStartTime);
+			if (waitTime > 0)
+			{
+				std::this_thread::sleep_for(std::chrono::duration<double>(waitTime));
+			}
+		
+			lastFrameStartTime += targetFrameTime;
+		}
 	}
 }
 
@@ -325,7 +400,10 @@ int APIENTRY wWinMain(_In_ HINSTANCE hInstance, _In_opt_ HINSTANCE hPrevInstance
 {
 	_getcwd(cwd, MAX_PATH);
 	HandleCommandLine(lpCmdLine);
-	//CreateConsole();
+
+#ifdef DEBUG_LOGS
+	CreateConsole();
+#endif
 
 	if (!glfwInit())
 	{
@@ -352,6 +430,7 @@ int APIENTRY wWinMain(_In_ HINSTANCE hInstance, _In_opt_ HINSTANCE hPrevInstance
 
 		ImGui_ImplOpenGL3_Shutdown();
 		ImGui_ImplGlfw_Shutdown();
+		ImPlot::DestroyContext();
 		ImGui::DestroyContext();
 	}
 	catch (std::runtime_error &e)

OpenVR-SpaceCalibrator/OpenVR-SpaceCalibrator.vcxproj

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
-<Project DefaultTargets="Build" ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <ItemGroup Label="ProjectConfigurations">
     <ProjectConfiguration Include="Debug|x64">
       <Configuration>Debug</Configuration>
@@ -14,19 +14,19 @@
     <ProjectGuid>{63BAE169-D595-4464-8E7E-50D6FD379348}</ProjectGuid>
     <Keyword>Win32Proj</Keyword>
     <RootNamespace>OpenVRSpaceCalibrator</RootNamespace>
-    <WindowsTargetPlatformVersion>8.1</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
   </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v140</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v140</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
@@ -50,30 +50,31 @@
   </PropertyGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <ClCompile>
-      <PrecompiledHeader>Use</PrecompiledHeader>
+      <PrecompiledHeader>NotUsing</PrecompiledHeader>
       <WarningLevel>Level3</WarningLevel>
       <Optimization>Disabled</Optimization>
       <PreprocessorDefinitions>_SCL_SECURE_NO_WARNINGS;_DEBUG;_WINDOWS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <SDLCheck>true</SDLCheck>
-      <AdditionalIncludeDirectories>..\lib\gl3w\include;..\lib\glfw\include;..\lib\openvr;..\lib;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\lib\imgui;..\lib\gl3w\include;..\lib\glfw\include;..\lib\openvr;..\lib;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalOptions>/bigobj %(AdditionalOptions)</AdditionalOptions>
     </ClCompile>
     <Link>
       <SubSystem>Windows</SubSystem>
       <GenerateDebugInformation>true</GenerateDebugInformation>
       <AdditionalLibraryDirectories>..\lib\glfw\lib-vc2015;..\lib\openvr\lib\win64</AdditionalLibraryDirectories>
-      <AdditionalDependencies>openvr_api.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalDependencies>opengl32.lib;glfw3.lib;openvr_api.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies>
     </Link>
   </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <ClCompile>
       <WarningLevel>Level3</WarningLevel>
-      <PrecompiledHeader>Use</PrecompiledHeader>
+      <PrecompiledHeader>NotUsing</PrecompiledHeader>
       <Optimization>MaxSpeed</Optimization>
       <FunctionLevelLinking>true</FunctionLevelLinking>
       <IntrinsicFunctions>true</IntrinsicFunctions>
       <PreprocessorDefinitions>_SCL_SECURE_NO_WARNINGS;NDEBUG;_WINDOWS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <SDLCheck>true</SDLCheck>
-      <AdditionalIncludeDirectories>..\lib\gl3w\include;..\lib\glfw\include;..\lib\openvr;..\lib;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\lib\imgui;..\lib\gl3w\include;..\lib\glfw\include;..\lib\openvr;..\lib;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
     </ClCompile>
     <Link>
       <SubSystem>Windows</SubSystem>
@@ -85,13 +86,20 @@
     </Link>
   </ItemDefinitionGroup>
   <ItemGroup>
+    <ClInclude Include="..\lib\implot\implot.h" />
+    <ClInclude Include="..\lib\implot\implot_internal.h" />
+    <ClInclude Include="..\Version.h" />
     <ClInclude Include="Calibration.h" />
+    <ClInclude Include="CalibrationCalc.h" />
+    <ClInclude Include="CalibrationMetrics.h" />
     <ClInclude Include="Configuration.h" />
     <ClInclude Include="EmbeddedFiles.h" />
+    <ClInclude Include="imgui_extensions.h" />
     <ClInclude Include="IPCClient.h" />
     <ClInclude Include="stdafx.h" />
     <ClInclude Include="targetver.h" />
     <ClInclude Include="UserInterface.h" />
+    <ClInclude Include="VRState.h" />
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="..\lib\gl3w\src\gl3w.c">
@@ -100,9 +108,7 @@
     <ClCompile Include="..\lib\imgui\imgui.cpp">
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">NotUsing</PrecompiledHeader>
     </ClCompile>
-    <ClCompile Include="..\lib\imgui\imgui_demo.cpp">
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">NotUsing</PrecompiledHeader>
-    </ClCompile>
+    <ClCompile Include="..\lib\imgui\imgui_demo.cpp" />
     <ClCompile Include="..\lib\imgui\imgui_draw.cpp">
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">NotUsing</PrecompiledHeader>
     </ClCompile>
@@ -112,11 +118,20 @@
     <ClCompile Include="..\lib\imgui\imgui_impl_opengl3.cpp">
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">NotUsing</PrecompiledHeader>
     </ClCompile>
+    <ClCompile Include="..\lib\imgui\imgui_tables.cpp" />
+    <ClCompile Include="..\lib\imgui\imgui_widgets.cpp" />
+    <ClCompile Include="..\lib\implot\implot.cpp" />
+    <ClCompile Include="..\lib\implot\implot_demo.cpp" />
+    <ClCompile Include="..\lib\implot\implot_items.cpp" />
     <ClCompile Include="Calibration.cpp" />
+    <ClCompile Include="CalibrationCalc.cpp" />
+    <ClCompile Include="CalibrationDebug.cpp" />
+    <ClCompile Include="CalibrationMetrics.cpp" />
     <ClCompile Include="Configuration.cpp" />
     <ClCompile Include="EmbeddedFiles.cpp">
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">NotUsing</PrecompiledHeader>
     </ClCompile>
+    <ClCompile Include="imgui_extensions.cpp" />
     <ClCompile Include="IPCClient.cpp" />
     <ClCompile Include="OpenVR-SpaceCalibrator.cpp" />
     <ClCompile Include="stdafx.cpp">
@@ -124,6 +139,7 @@
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
     </ClCompile>
     <ClCompile Include="UserInterface.cpp" />
+    <ClCompile Include="VRState.cpp" />
   </ItemGroup>
   <ItemGroup>
     <Image Include="OpenVR-SpaceCalibrator.ico" />

OpenVR-SpaceCalibrator/OpenVR-SpaceCalibrator.vcxproj.filters

@@ -19,6 +19,9 @@
     <Filter Include="Source Files\GL">
       <UniqueIdentifier>{d156ae5c-9fe6-41f0-a34e-333dc7a6b2f8}</UniqueIdentifier>
     </Filter>
+    <Filter Include="Source Files\ImGui\ImPlot">
+      <UniqueIdentifier>{7334a0fc-18cd-446d-b621-6dadb942fe6f}</UniqueIdentifier>
+    </Filter>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="stdafx.h">
@@ -42,6 +45,27 @@
     <ClInclude Include="IPCClient.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="..\Version.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="CalibrationCalc.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\lib\implot\implot.h">
+      <Filter>Source Files\ImGui\ImPlot</Filter>
+    </ClInclude>
+    <ClInclude Include="..\lib\implot\implot_internal.h">
+      <Filter>Source Files\ImGui\ImPlot</Filter>
+    </ClInclude>
+    <ClInclude Include="VRState.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="CalibrationMetrics.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="imgui_extensions.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="stdafx.cpp">
@@ -53,9 +77,6 @@
     <ClCompile Include="..\lib\imgui\imgui.cpp">
       <Filter>Source Files\ImGui</Filter>
     </ClCompile>
-    <ClCompile Include="..\lib\imgui\imgui_demo.cpp">
-      <Filter>Source Files\ImGui</Filter>
-    </ClCompile>
     <ClCompile Include="..\lib\imgui\imgui_impl_glfw.cpp">
       <Filter>Source Files\ImGui</Filter>
     </ClCompile>
@@ -83,6 +104,39 @@
     <ClCompile Include="OpenVR-SpaceCalibrator.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="CalibrationCalc.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\lib\imgui\imgui_tables.cpp">
+      <Filter>Source Files\ImGui</Filter>
+    </ClCompile>
+    <ClCompile Include="..\lib\imgui\imgui_widgets.cpp">
+      <Filter>Source Files\ImGui</Filter>
+    </ClCompile>
+    <ClCompile Include="..\lib\implot\implot.cpp">
+      <Filter>Source Files\ImGui\ImPlot</Filter>
+    </ClCompile>
+    <ClCompile Include="..\lib\implot\implot_demo.cpp">
+      <Filter>Source Files\ImGui\ImPlot</Filter>
+    </ClCompile>
+    <ClCompile Include="..\lib\implot\implot_items.cpp">
+      <Filter>Source Files\ImGui\ImPlot</Filter>
+    </ClCompile>
+    <ClCompile Include="..\lib\imgui\imgui_demo.cpp">
+      <Filter>Source Files\ImGui</Filter>
+    </ClCompile>
+    <ClCompile Include="CalibrationDebug.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="VRState.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="CalibrationMetrics.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="imgui_extensions.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <Image Include="small.ico">

OpenVR-SpaceCalibrator/UserInterface.cpp

@@ -2,30 +2,16 @@
 #include "UserInterface.h"
 #include "Calibration.h"
 #include "Configuration.h"
+#include "VRState.h"
+#include "CalibrationMetrics.h"
+#include "../Version.h"
 
 #include <thread>
 #include <string>
 #include <vector>
 #include <algorithm>
 #include <imgui/imgui.h>
-
-#define VERSION_STRING "1.2"
-
-struct VRDevice
-{
-	int id = -1;
-	vr::TrackedDeviceClass deviceClass;
-	std::string model = "";
-	std::string serial = "";
-	std::string trackingSystem = "";
-	vr::ETrackedControllerRole controllerRole = vr::TrackedControllerRole_Invalid;
-};
-
-struct VRState
-{
-	std::vector<std::string> trackingSystems;
-	std::vector<VRDevice> devices;
-};
+#include "imgui_extensions.h"
 
 void TextWithWidth(const char *label, const char *text, float width);
 
@@ -38,16 +24,27 @@ void BuildMenu(bool runningInOverlay);
 static const ImGuiWindowFlags bareWindowFlags =
 	ImGuiWindowFlags_NoTitleBar |
 	ImGuiWindowFlags_NoResize |
-	ImGuiWindowFlags_NoMove;
+	ImGuiWindowFlags_NoMove |
+	ImGuiWindowFlags_NoScrollbar |
+	ImGuiWindowFlags_NoScrollWithMouse |
+	ImGuiWindowFlags_NoCollapse;
 
-void BuildMainWindow(bool runningInOverlay)
+void BuildContinuousCalDisplay();
+void ShowVersionLine();
+
+static bool runningInOverlay;
+
+void BuildMainWindow(bool runningInOverlay_)
 {
+	runningInOverlay = runningInOverlay_;
+	bool continuousCalibration = CalCtx.state == CalibrationState::Continuous || CalCtx.state == CalibrationState::ContinuousStandby;
+	
 	auto &io = ImGui::GetIO();
 
-	ImGui::SetNextWindowPos(ImVec2(0.0f, 0.0f), ImGuiSetCond_Always);
-	ImGui::SetNextWindowSize(io.DisplaySize, ImGuiSetCond_Always);
+	ImGui::SetNextWindowPos(ImVec2(0.0f, 0.0f), ImGuiCond_Always);
+	ImGui::SetNextWindowSize(io.DisplaySize, ImGuiCond_Always);
 
-	if (!ImGui::Begin("MainWindow", nullptr, bareWindowFlags))
+	if (!ImGui::Begin("OpenVRSpaceCalibrator", nullptr, bareWindowFlags))
 	{
 		ImGui::End();
 		return;
@@ -55,15 +52,395 @@ void BuildMainWindow(bool runningInOverlay)
 
 	ImGui::PushStyleColor(ImGuiCol_PlotHistogram, ImGui::GetStyleColorVec4(ImGuiCol_Button));
 
-	auto state = LoadVRState();
-	BuildSystemSelection(state);
-	BuildDeviceSelections(state);
-	BuildMenu(runningInOverlay);
+	if (continuousCalibration) {
+		BuildContinuousCalDisplay();
+	}
+	else {
+		auto state = LoadVRState();
+
+		ImGui::BeginDisabled(CalCtx.state == CalibrationState::Continuous);
+		BuildSystemSelection(state);
+		BuildDeviceSelections(state);
+		ImGui::EndDisabled();
+		BuildMenu(runningInOverlay);
+	}
+
+	ShowVersionLine();
 
 	ImGui::PopStyleColor();
 	ImGui::End();
 }
 
+void ShowVersionLine() {
+	ImGui::SetNextWindowPos(ImVec2(10.0f, ImGui::GetWindowHeight() - ImGui::GetFrameHeightWithSpacing()));
+	if (!ImGui::BeginChild("bottom line", ImVec2(ImGui::GetWindowWidth() - 20.0f, ImGui::GetFrameHeightWithSpacing() * 2), false)) {
+		ImGui::EndChild();
+		return;
+	}
+	ImGui::Text("OpenVR Space Calibrator v" SPACECAL_VERSION_STRING);
+	if (runningInOverlay)
+	{
+		ImGui::SameLine();
+		ImGui::Text("- close VR overlay to use mouse");
+	}
+	ImGui::EndChild();
+}
+
+void CCal_BasicInfo();
+void CCal_DrawSettings();
+
+void BuildContinuousCalDisplay() {
+	ImGui::SetNextWindowPos(ImVec2(0, 0));
+	ImGui::SetNextWindowSize(ImGui::GetWindowSize());
+	ImGui::SetNextWindowBgAlpha(1);
+	if (!ImGui::Begin("Continuous Calibration", nullptr,
+		bareWindowFlags & ~ImGuiWindowFlags_NoTitleBar
+	)) {
+		ImGui::End();
+		return;
+	}
+
+	ImVec2 contentRegion;
+	contentRegion.x = ImGui::GetWindowContentRegionWidth();
+	contentRegion.y = ImGui::GetWindowHeight() - ImGui::GetFrameHeightWithSpacing() * 2.1;
+
+	if (!ImGui::BeginChild("CCalDisplayFrame", contentRegion, false)) {
+		ImGui::EndChild();
+		return;
+	}
+
+	if (ImGui::BeginTabBar("CCalTabs", 0)) {
+		if (ImGui::BeginTabItem("Status")) {
+			CCal_BasicInfo();
+			ImGui::EndTabItem();
+		}
+
+		if (ImGui::BeginTabItem("More Graphs")) {
+			ShowCalibrationDebug(2, 3);
+			ImGui::EndTabItem();
+		}
+		
+		if (ImGui::BeginTabItem("Settings")) {
+			CCal_DrawSettings();
+			ImGui::EndTabItem();
+		}
+
+		ImGui::EndTabBar();
+	}
+
+	ImGui::EndChild();
+
+	ShowVersionLine();
+
+	ImGui::End();
+}
+
+static void ScaledDragFloat(const char* label, double& f, double scale, double min, double max, int flags = ImGuiSliderFlags_AlwaysClamp) {
+	float v = (float) (f * scale);
+	std::string labelStr = std::string(label);
+
+	// If starts with ##, just do a normal SliderFloat
+	if (labelStr.size() > 2 && labelStr[0] == '#' && labelStr[1] == '#') {
+		ImGui::SliderFloat(label, &v, (float)min, (float)max, "%1.2f", flags);
+	} else {
+		// Otherwise do funny
+		ImGui::Text(label);
+		ImGui::SameLine();
+		ImGui::PushID((std::string(label) + "_id").c_str());
+		// Line up to a column, multiples of 100
+		constexpr uint32_t LABEL_CURSOR = 100;
+		uint32_t cursorPosX = ImGui::GetCursorPosX();
+		uint32_t roundedPosition = ((cursorPosX + LABEL_CURSOR / 2) / LABEL_CURSOR) * LABEL_CURSOR;
+		ImGui::SetCursorPosX(roundedPosition);
+		ImGui::SliderFloat((std::string("##") + label).c_str(), &v, (float)min, (float)max, "%1.2f", flags);
+		ImGui::PopID();
+	}
+	
+	f = v / scale;
+}
+
+void DrawVectorElement(std::string id, const char* text, double* value);
+
+void CCal_DrawSettings() {
+
+	// panel size for boxes
+	ImVec2 panel_size { ImGui::GetWindowContentRegionMax().x - ImGui::GetWindowContentRegionMin().x, 0 };
+
+	ImGui::BeginGroupPanel("Tip", panel_size);
+	ImGui::Text("Hover over settings to learn more about them!");
+	ImGui::EndGroupPanel();
+
+
+	// @TODO: Group in UI
+
+	// Section: Alignment speeds
+	{
+		ImGui::BeginGroupPanel("Calibration speeds", panel_size);
+
+		ImGui::PushStyleColor(ImGuiCol_Text, ImGui::GetStyleColorVec4(ImGuiCol_TextDisabled));
+		ImGui::TextWrapped(
+			"SpaceCalibrator uses up to three different speeds at which it drags the calibration back into "
+			"position when drift occurs. These settings control how far off the calibration should be before going back to low speed (for "
+			"Decel) or going to higher speeds (for Slow and Fast)."
+		);
+		ImGui::PopStyleColor();
+
+		if (ImGui::BeginTable("SpeedThresholds", 3, 0)) {
+			ImGui::TableNextRow();
+			ImGui::TableSetColumnIndex(1);
+			ImGui::Text("Translation (mm)");
+			ImGui::TableSetColumnIndex(2);
+			ImGui::Text("Rotation (degrees)");
+
+
+			ImGui::TableNextRow();
+			ImGui::TableSetColumnIndex(0);
+			ImGui::Text("Decel");
+			ImGui::TableSetColumnIndex(1);
+			ScaledDragFloat("##TransDecel", CalCtx.alignmentSpeedParams.thr_trans_tiny, 1000.0, 0, 20.0);
+			ImGui::TableSetColumnIndex(2);
+			ScaledDragFloat("##RotDecel", CalCtx.alignmentSpeedParams.thr_rot_tiny, 180.0 / EIGEN_PI, 0, 5.0);
+
+			ImGui::TableNextRow();
+			ImGui::TableSetColumnIndex(0);
+			ImGui::Text("Slow");
+			ImGui::TableSetColumnIndex(1);
+			ScaledDragFloat("##TransSlow", CalCtx.alignmentSpeedParams.thr_trans_small, 1000.0,
+				CalCtx.alignmentSpeedParams.thr_trans_tiny * 1000.0, 20.0);
+			ImGui::TableSetColumnIndex(2);
+			ScaledDragFloat("##RotSlow", CalCtx.alignmentSpeedParams.thr_rot_small, 180.0 / EIGEN_PI,
+				CalCtx.alignmentSpeedParams.thr_rot_tiny * (180.0 / EIGEN_PI), 10.0);
+
+			ImGui::TableNextRow();
+			ImGui::TableSetColumnIndex(0);
+			ImGui::Text("Fast");
+			ImGui::TableSetColumnIndex(1);
+			ScaledDragFloat("##TransFast", CalCtx.alignmentSpeedParams.thr_trans_large, 1000.0,
+				CalCtx.alignmentSpeedParams.thr_trans_small * 1000.0, 50.0);
+			ImGui::TableSetColumnIndex(2);
+			ScaledDragFloat("##RotFast", CalCtx.alignmentSpeedParams.thr_rot_large, 180.0 / EIGEN_PI,
+				CalCtx.alignmentSpeedParams.thr_rot_small * (180.0 / EIGEN_PI), 20.0);
+
+			ImGui::EndTable();
+		}
+
+		ImGui::EndGroupPanel();
+	}
+
+	// Section: Alignment speeds
+	{
+		ImGui::BeginGroupPanel("Alignment speeds", panel_size);
+
+		// ImGui::Separator();
+		// ImGui::Text("Alignment speeds");
+		ScaledDragFloat("Decel", CalCtx.alignmentSpeedParams.align_speed_tiny, 1.0, 0, 2.0, 0);
+		ScaledDragFloat("Slow", CalCtx.alignmentSpeedParams.align_speed_small, 1.0, 0, 2.0, 0);
+		ScaledDragFloat("Fast", CalCtx.alignmentSpeedParams.align_speed_large, 1.0, 0, 2.0, 0);
+		
+		ImGui::EndGroupPanel();
+	}
+	
+
+	// Section: Continuous Calibration settings
+	{
+		ImGui::BeginGroupPanel("Continuous calibration", panel_size);
+
+		{
+			// @TODO: Reduce code duplication (tooltips)
+			// Recalibration threshold
+			ImGui::Text("Recalibration threshold");
+			ImGui::SameLine();
+			ImGui::PushID("recalibration_threshold");
+			ImGui::SliderFloat("##recalibration_threshold_slider", &CalCtx.continuousCalibrationThreshold, 1.01f, 10.0f, "%1.1f", 0);
+			if (ImGui::IsItemHovered(0)) {
+				ImGui::SetTooltip("Controls how good the calibration must be before realigning the trackers.\n"
+					"Higher values cause calibration to happen less often, and may be useful for system with lots of tracking drift.");
+			}
+			ImGui::PopID();
+
+			ImGui::PushStyleColor(ImGuiCol_Text, ImGui::GetStyleColorVec4(ImGuiCol_TextDisabled));
+			ImGui::TextWrapped("Controls how often SpaceCalibrator synchronises playspaces.");
+			ImGui::PopStyleColor();
+			if (ImGui::IsItemHovered(0)) {
+				ImGui::SetTooltip("Controls how good the calibration must be before realigning the trackers.\n"
+					"Higher values cause calibration to happen less often, and may be useful for system with lots of tracking drift.");
+			}
+		}
+
+		{
+			// Tracker offset
+			// ImVec2 panel_size_inner { ImGui::GetCurrentWindow()->DC.ItemWidth, 0};
+			ImVec2 panel_size_inner { panel_size.x - 11 * 2, 0};
+			ImGui::BeginGroupPanel("Tracker offset", panel_size_inner);
+			DrawVectorElement("cc_tracker_offset", "X", &CalCtx.continuousCalibrationOffset.x());
+			DrawVectorElement("cc_tracker_offset", "Y", &CalCtx.continuousCalibrationOffset.y());
+			DrawVectorElement("cc_tracker_offset", "Z", &CalCtx.continuousCalibrationOffset.z());
+			ImGui::EndGroupPanel();
+		}
+
+		{
+			// Playspace offset
+			ImVec2 panel_size_inner{ panel_size.x - 11 * 2, 0 };
+			ImGui::BeginGroupPanel("Playspace scale", panel_size_inner);
+			DrawVectorElement("cc_playspace_scale", "PLayspace Scale", &CalCtx.calibratedScale);
+			ImGui::EndGroupPanel();
+		}
+
+		ImGui::EndGroupPanel();
+	}
+
+	ImGui::NewLine();
+	ImGui::Indent();
+	if (ImGui::Button("Reset settings")) {
+		CalCtx.ResetConfig();
+	}
+	ImGui::Unindent();
+	ImGui::NewLine();
+
+	// Section: Contributors credits
+	{
+		ImGui::BeginGroupPanel("Credits", panel_size);
+
+		ImGui::TextDisabled("tach");
+		ImGui::TextDisabled("pushrax");
+		ImGui::TextDisabled("bd_");
+		ImGui::TextDisabled("ArcticFox");
+		ImGui::TextDisabled("hekky");
+
+		ImGui::EndGroupPanel();
+	}
+}
+
+void DrawVectorElement(std::string id, const char* text, double* value) {
+	constexpr float CONTINUOUS_CALIBRATION_TRACKER_OFFSET_DELTA = 0.01f;
+
+	ImGui::Text(text);
+
+	ImGui::SameLine();
+
+	ImGui::PushID((id + text + "_btn_reset").c_str());
+	if (ImGui::Button(" 0 ")) {
+		*value *= 0;
+	}
+	ImGui::PopID();
+	ImGui::SameLine();
+	if (ImGui::ArrowButton((id + text + "_decrease").c_str(), ImGuiDir_Down)) {
+		*value -= CONTINUOUS_CALIBRATION_TRACKER_OFFSET_DELTA;
+	}
+	ImGui::SameLine();
+	ImGui::PushItemWidth(100);
+	ImGui::PushID((id + text + "_text_field").c_str());
+	ImGui::InputDouble("##label", value, 0, 0, "%.2f");
+	ImGui::PopID();
+	ImGui::PopItemWidth();
+	ImGui::SameLine();
+	if (ImGui::ArrowButton((id + text + "_increase").c_str(), ImGuiDir_Up)) {
+		*value += CONTINUOUS_CALIBRATION_TRACKER_OFFSET_DELTA;
+	}
+}
+
+void CCal_BasicInfo() {
+	if (ImGui::BeginTable("DeviceInfo", 2, 0)) {
+		ImGui::TableSetupColumn("Reference device");
+		ImGui::TableSetupColumn("Target device");
+		ImGui::TableHeadersRow();
+
+		ImGui::TableNextRow();
+		ImGui::TableSetColumnIndex(0);
+		ImGui::BeginGroup();
+		ImGui::Text("%s / %s / %s",
+			CalCtx.referenceStandby.trackingSystem.c_str(),
+			CalCtx.referenceStandby.model.c_str(),
+			CalCtx.referenceStandby.serial.c_str()
+		);
+		const char* status;
+		if (CalCtx.referenceID < 0) {
+			ImGui::TableSetBgColor(ImGuiTableBgTarget_CellBg, 0xFF000080);
+			status = "NOT FOUND";
+		}
+		else if (!CalCtx.ReferencePoseIsValid()) {
+			ImGui::TableSetBgColor(ImGuiTableBgTarget_CellBg, 0xFFFF0080);
+			status = "NOT TRACKING";
+		}
+		else {
+			status = "OK";
+		}
+		ImGui::Text("Status: %s", status);
+		ImGui::EndGroup();
+
+		ImGui::TableSetColumnIndex(1);
+		ImGui::BeginGroup();
+		ImGui::Text("%s / %s / %s",
+			CalCtx.targetStandby.trackingSystem.c_str(),
+			CalCtx.targetStandby.model.c_str(),
+			CalCtx.targetStandby.serial.c_str()
+		);
+		if (CalCtx.targetID < 0) {
+			ImGui::TableSetBgColor(ImGuiTableBgTarget_CellBg, 0xFF000080);
+			status = "NOT FOUND";
+		}
+		else if (!CalCtx.TargetPoseIsValid()) {
+			ImGui::TableSetBgColor(ImGuiTableBgTarget_CellBg, 0xFFFF0080);
+			status = "NOT TRACKING";
+		}
+		else {
+			status = "OK";
+		}
+		ImGui::Text("Status: %s", status);
+		ImGui::EndGroup();
+
+		ImGui::EndTable();
+	}
+
+	float width = ImGui::GetWindowContentRegionWidth(), scale = 1.0f;
+
+	if (ImGui::BeginTable("##CCal_Cancel", Metrics::enableLogs ? 3 : 2, 0, ImVec2(width * scale, ImGui::GetTextLineHeight() * 2))) {
+		ImGui::TableNextRow();
+		ImGui::TableSetColumnIndex(0);
+		if (ImGui::Button("Cancel Continuous Calibration", ImVec2(-FLT_MIN, 0.0f))) {
+			EndContinuousCalibration();
+		}
+
+		ImGui::TableSetColumnIndex(1);
+		if (ImGui::Button("Debug: Force break calibration", ImVec2(-FLT_MIN, 0.0f))) {
+			DebugApplyRandomOffset();
+		}
+
+		if (Metrics::enableLogs) {
+			ImGui::TableSetColumnIndex(2);
+			if (ImGui::Button("Debug: Mark logs", ImVec2(-FLT_MIN, 0.0f))) {
+				Metrics::WriteLogAnnotation("MARK LOGS");
+			}
+		}
+
+		ImGui::EndTable();
+	}
+
+	ImGui::Checkbox("Hide tracker", &CalCtx.quashTargetInContinuous);
+	ImGui::SameLine();
+	ImGui::Checkbox("Static recalibration", &CalCtx.enableStaticRecalibration);
+	ImGui::SameLine();
+	ImGui::Checkbox("Enable debug logs", &Metrics::enableLogs);
+	ImGui::SameLine();
+	ImGui::Checkbox("Lock relative transform", &CalCtx.lockRelativePosition);
+	ImGui::SameLine();
+	ImGui::Checkbox("Require triggers", &CalCtx.requireTriggerPressToApply);
+
+	// Status field...
+
+	ImGui::PushStyleColor(ImGuiCol_FrameBg, ImVec4(0, 0, 0, 1));
+
+	for (const auto& msg : CalCtx.messages) {
+		if (msg.type == CalibrationContext::Message::String) {
+			ImGui::TextWrapped("> %s", msg.str.c_str());
+		}
+	}
+
+	ImGui::PopStyleColor();
+
+	ShowCalibrationDebug(1, 3);
+}
+
 void BuildMenu(bool runningInOverlay)
 {
 	auto &io = ImGui::GetIO();
@@ -74,7 +451,7 @@ void BuildMenu(bool runningInOverlay)
 	{
 		if (CalCtx.validProfile && !CalCtx.enabled)
 		{
-			ImGui::TextColored(ImColor(0.8f, 0.2f, 0.2f), "Reference (%s) HMD not detected, profile disabled", CalCtx.referenceTrackingSystem.c_str());
+			ImGui::TextColored(ImVec4(0.8f, 0.2f, 0.2f, 1), "Reference (%s) HMD not detected, profile disabled", CalCtx.referenceTrackingSystem.c_str());
 			ImGui::Text("");
 		}
 
@@ -82,7 +459,7 @@ void BuildMenu(bool runningInOverlay)
 		if (CalCtx.validProfile)
 		{
 			width -= style.FramePadding.x * 4.0f;
-			scale = 1.0f / 3.0f;
+			scale = 1.0f / 4.0f;
 		}
 
 		if (ImGui::Button("Start Calibration", ImVec2(width * scale, ImGui::GetTextLineHeight() * 2)))
@@ -91,6 +468,11 @@ void BuildMenu(bool runningInOverlay)
 			StartCalibration();
 		}
 
+		ImGui::SameLine();
+		if (ImGui::Button("Continuous Calibration", ImVec2(width * scale, ImGui::GetTextLineHeight() * 2))) {
+			StartContinuousCalibration();
+		}
+
 		if (CalCtx.validProfile)
 		{
 			ImGui::SameLine();
@@ -171,21 +553,11 @@ void BuildMenu(bool runningInOverlay)
 		ImGui::Button("Calibration in progress...", ImVec2(ImGui::GetWindowContentRegionWidth(), ImGui::GetTextLineHeight() * 2));
 	}
 
-	ImGui::SetNextWindowPos(ImVec2(10.0f, ImGui::GetWindowHeight() - ImGui::GetItemsLineHeightWithSpacing()));
-	ImGui::BeginChild("bottom line", ImVec2(ImGui::GetWindowWidth() - 20.0f, ImGui::GetItemsLineHeightWithSpacing() * 2), false);
-	ImGui::Text("OpenVR Space Calibrator v" VERSION_STRING " - by tach/pushrax");
-	if (runningInOverlay)
-	{
-		ImGui::SameLine();
-		ImGui::Text("- close VR overlay to use mouse");
-	}
-	ImGui::EndChild();
-
-	ImGui::SetNextWindowPos(ImVec2(20.0f, 20.0f), ImGuiSetCond_Always);
-	ImGui::SetNextWindowSize(ImVec2(io.DisplaySize.x - 40.0f, io.DisplaySize.y - 40.0f), ImGuiSetCond_Always);
+	ImGui::SetNextWindowPos(ImVec2(20.0f, 20.0f), ImGuiCond_Always);
+	ImGui::SetNextWindowSize(ImVec2(io.DisplaySize.x - 40.0f, io.DisplaySize.y - 40.0f), ImGuiCond_Always);
 	if (ImGui::BeginPopupModal("Calibration Progress", nullptr, bareWindowFlags))
 	{
-		ImGui::PushStyleColor(ImGuiCol_FrameBg, (ImVec4)ImColor(0, 0, 0));
+		ImGui::PushStyleColor(ImGuiCol_FrameBg, (ImVec4)ImVec4(0, 0, 0, 1));
 		for (auto &message : CalCtx.messages)
 		{
 			switch (message.type)
@@ -250,7 +622,15 @@ void BuildSystemSelection(const VRState &state)
 
 	if (currentReferenceSystem == -1 && CalCtx.referenceTrackingSystem == "")
 	{
-		currentReferenceSystem = firstReferenceSystemNotTargetSystem;
+		if (CalCtx.state == CalibrationState::ContinuousStandby) {
+			auto iter = std::find(state.trackingSystems.begin(), state.trackingSystems.end(), CalCtx.referenceStandby.trackingSystem);
+			if (iter != state.trackingSystems.end()) {
+				currentReferenceSystem = iter - state.trackingSystems.begin();
+			}
+		}
+		else {
+			currentReferenceSystem = firstReferenceSystemNotTargetSystem;
+		}
 	}
 
 	ImGui::PushItemWidth(paneWidth);
@@ -263,8 +643,17 @@ void BuildSystemSelection(const VRState &state)
 			CalCtx.targetTrackingSystem = "";
 	}
 
-	if (CalCtx.targetTrackingSystem == "")
-		currentTargetSystem = 0;
+	if (CalCtx.targetTrackingSystem == "") {
+		if (CalCtx.state == CalibrationState::ContinuousStandby) {
+			auto iter = std::find(state.trackingSystems.begin(), state.trackingSystems.end(), CalCtx.targetStandby.trackingSystem);
+			if (iter != state.trackingSystems.end()) {
+				currentTargetSystem = iter - state.trackingSystems.begin();
+			}
+		}
+		else {
+			currentTargetSystem = 0;
+		}
+	}
 
 	std::vector<const char *> targetSystems;
 	for (auto &str : state.trackingSystems)
@@ -315,9 +704,20 @@ std::string LabelString(const VRDevice &device)
 	return label;
 }
 
-void BuildDeviceSelection(const VRState &state, int &selected, const std::string &system)
+std::string LabelString(const StandbyDevice& device) {
+	std::string label("< ");
+
+	label += device.model;
+	AppendSeparated(label, device.serial);
+
+	label += " >";
+	return label;
+}
+
+void BuildDeviceSelection(const VRState &state, int &initialSelected, const std::string &system, StandbyDevice &standbyDevice)
 {
-	ImGui::TextColored(ImColor(0.5f, 0.5f, 0.5f), "Devices from: %s", system.c_str());
+	int selected = initialSelected;
+	ImGui::TextColored(ImVec4(0.5f, 0.5f, 0.5f, 1), "Devices from: %s", system.c_str());
 
 	if (selected != -1)
 	{
@@ -341,7 +741,9 @@ void BuildDeviceSelection(const VRState &state, int &selected, const std::string
 		}
 	}
 
-	if (selected == -1)
+	bool standby = CalCtx.state == CalibrationState::ContinuousStandby;
+
+	if (selected == -1 && !standby)
 	{
 		for (auto &device : state.devices)
 		{
@@ -354,6 +756,37 @@ void BuildDeviceSelection(const VRState &state, int &selected, const std::string
 				break;
 			}
 		}
+
+		if (selected == -1) {
+			for (auto& device : state.devices)
+			{
+				if (device.trackingSystem != system)
+					continue;
+				
+				selected = device.id;
+				break;
+			}
+		}
+	}
+
+	if (selected == -1 && standby) {
+		bool present = false;
+		for (auto& device : state.devices)
+		{
+			if (device.trackingSystem != system)
+				continue;
+
+			if (standbyDevice.model != device.model) continue;
+			if (standbyDevice.serial != device.serial) continue;
+
+			present = true;
+			break;
+		}
+
+		if (!present) {
+			auto label = LabelString(standbyDevice);
+			ImGui::Selectable(label.c_str(), true);
+		}
 	}
 
 	for (auto &device : state.devices)
@@ -361,12 +794,19 @@ void BuildDeviceSelection(const VRState &state, int &selected, const std::string
 		if (device.trackingSystem != system)
 			continue;
 
-		if (selected == -1)
-			selected = device.id;
-
 		auto label = LabelString(device);
-		if (ImGui::Selectable(label.c_str(), selected == device.id))
+		if (ImGui::Selectable(label.c_str(), selected == device.id)) {
 			selected = device.id;
+		}
+	}
+	if (selected != initialSelected) {
+		const auto& device = std::find_if(state.devices.begin(), state.devices.end(), [&](const auto& d) { return d.id == selected; });
+		if (device == state.devices.end()) return;
+
+		initialSelected = selected;
+		standbyDevice.trackingSystem = system;
+		standbyDevice.model = device->model;
+		standbyDevice.serial = device->serial;
 	}
 }
 
@@ -376,17 +816,13 @@ void BuildDeviceSelections(const VRState &state)
 	ImVec2 paneSize(ImGui::GetWindowContentRegionWidth() / 2 - style.FramePadding.x, ImGui::GetTextLineHeightWithSpacing() * 5 + style.ItemSpacing.y * 4);
 
 	ImGui::BeginChild("left device pane", paneSize, true);
-	static int selectedRefDevice = -1;
-	BuildDeviceSelection(state, selectedRefDevice, CalCtx.referenceTrackingSystem);
-	CalCtx.referenceID = selectedRefDevice;
+	BuildDeviceSelection(state, CalCtx.referenceID, CalCtx.referenceTrackingSystem, CalCtx.referenceStandby);
 	ImGui::EndChild();
 
 	ImGui::SameLine();
 
 	ImGui::BeginChild("right device pane", paneSize, true);
-	static int selectedCalDevice = -1;
-	BuildDeviceSelection(state, selectedCalDevice, CalCtx.targetTrackingSystem);
-	CalCtx.targetID = selectedCalDevice;
+	BuildDeviceSelection(state, CalCtx.targetID, CalCtx.targetTrackingSystem, CalCtx.targetStandby);
 	ImGui::EndChild();
 
 	if (ImGui::Button("Identify selected devices (blinks LED or vibrates)", ImVec2(ImGui::GetWindowContentRegionWidth(), ImGui::GetTextLineHeightWithSpacing() + 4.0f)))
@@ -400,59 +836,21 @@ void BuildDeviceSelections(const VRState &state)
 	}
 }
 
-VRState LoadVRState()
-{
-	VRState state;
-	auto &trackingSystems = state.trackingSystems;
+VRState LoadVRState() {
+	VRState state = VRState::Load();
+	auto& trackingSystems = state.trackingSystems;
 
-	char buffer[vr::k_unMaxPropertyStringSize];
+	// Inject entries for continuous calibration targets which have yet to load
 
-	for (uint32_t id = 0; id < vr::k_unMaxTrackedDeviceCount; ++id)
-	{
-		vr::ETrackedPropertyError err = vr::TrackedProp_Success;
-		auto deviceClass = vr::VRSystem()->GetTrackedDeviceClass(id);
-		if (deviceClass == vr::TrackedDeviceClass_Invalid)
-			continue;
+	if (CalCtx.state == CalibrationState::ContinuousStandby) {
+		auto existing = std::find(trackingSystems.begin(), trackingSystems.end(), CalCtx.referenceTrackingSystem);
+		if (existing == trackingSystems.end()) {
+			trackingSystems.push_back(CalCtx.referenceTrackingSystem);
+		}
 
-		if (deviceClass != vr::TrackedDeviceClass_TrackingReference)
-		{
-			vr::VRSystem()->GetStringTrackedDeviceProperty(id, vr::Prop_TrackingSystemName_String, buffer, vr::k_unMaxPropertyStringSize, &err);
-
-			if (err == vr::TrackedProp_Success)
-			{
-				std::string system(buffer);
-				auto existing = std::find(trackingSystems.begin(), trackingSystems.end(), system);
-				if (existing != trackingSystems.end())
-				{
-					if (deviceClass == vr::TrackedDeviceClass_HMD)
-					{
-						trackingSystems.erase(existing);
-						trackingSystems.insert(trackingSystems.begin(), system);
-					}
-				}
-				else
-				{
-					trackingSystems.push_back(system);
-				}
-
-				VRDevice device;
-				device.id = id;
-				device.deviceClass = deviceClass;
-				device.trackingSystem = system;
-
-				vr::VRSystem()->GetStringTrackedDeviceProperty(id, vr::Prop_ModelNumber_String, buffer, vr::k_unMaxPropertyStringSize, &err);
-				device.model = std::string(buffer);
-
-				vr::VRSystem()->GetStringTrackedDeviceProperty(id, vr::Prop_SerialNumber_String, buffer, vr::k_unMaxPropertyStringSize, &err);
-				device.serial = std::string(buffer);
-
-				device.controllerRole = (vr::ETrackedControllerRole) vr::VRSystem()->GetInt32TrackedDeviceProperty(id, vr::Prop_ControllerRoleHint_Int32, &err);
-				state.devices.push_back(device);
-			}
-			else
-			{
-				printf("failed to get tracking system name for id %d\n", id);
-			}
+		existing = std::find(trackingSystems.begin(), trackingSystems.end(), CalCtx.targetTrackingSystem);
+		if (existing == trackingSystems.end()) {
+			trackingSystems.push_back(CalCtx.targetTrackingSystem);
 		}
 	}
 
@@ -489,6 +887,10 @@ void BuildProfileEditor()
 	ImGui::InputDouble("##Y", &CalCtx.calibratedTranslation(1), 1.0, 10.0, "%.8f");
 	ImGui::SameLine();
 	ImGui::InputDouble("##Z", &CalCtx.calibratedTranslation(2), 1.0, 10.0, "%.8f");
+
+	TextWithWidth("ScaleLabel", "Scale", width);
+
+	ImGui::InputDouble("##Scale", &CalCtx.calibratedScale, 0.0001, 0.01, "%.8f");
 	ImGui::PopItemWidth();
 }
 
@@ -498,3 +900,4 @@ void TextWithWidth(const char *label, const char *text, float width)
 	ImGui::Text(text);
 	ImGui::EndChild();
 }
+

OpenVR-SpaceCalibrator/UserInterface.h

@@ -1,3 +1,4 @@
 #pragma once
 
-void BuildMainWindow(bool runningInOverlay);
+void BuildMainWindow(bool runningInOverlay);
+void RequestImmediateRedraw();

OpenVR-SpaceCalibrator/VRState.cpp

@@ -0,0 +1,108 @@
+#include "stdafx.h"
+#include "VRState.h"
+
+VRState VRState::Load()
+{
+	VRState state;
+	auto& trackingSystems = state.trackingSystems;
+
+	char buffer[vr::k_unMaxPropertyStringSize];
+
+	for (uint32_t id = 0; id < vr::k_unMaxTrackedDeviceCount; ++id)
+	{
+		vr::ETrackedPropertyError err = vr::TrackedProp_Success;
+		auto deviceClass = vr::VRSystem()->GetTrackedDeviceClass(id);
+		if (deviceClass == vr::TrackedDeviceClass_Invalid)
+			continue;
+
+		if (deviceClass != vr::TrackedDeviceClass_TrackingReference)
+		{
+			vr::VRSystem()->GetStringTrackedDeviceProperty(id, vr::Prop_TrackingSystemName_String, buffer, vr::k_unMaxPropertyStringSize, &err);
+
+			if (err == vr::TrackedProp_Success)
+			{
+				std::string system(buffer);
+
+				// Check if the current HMD is a Pimax crystal
+				if (deviceClass == vr::TrackedDeviceClass_HMD && system == "aapvr") {
+					// HMD is a Pimax HMD
+					vr::HmdMatrix34_t eyeToHeadLeft = vr::VRSystem()->GetEyeToHeadTransform(vr::Eye_Left);
+					// Crystal's projection matrix is constant 0s or 1s except for [0][3], which stores the IPD offset from the nose
+					bool isCrystalHmd =
+						eyeToHeadLeft.m[0][0] == 1 && eyeToHeadLeft.m[0][1] == 0 && eyeToHeadLeft.m[0][2] == 0 &&                     // IPD
+						eyeToHeadLeft.m[1][0] == 0 && eyeToHeadLeft.m[1][1] == 1 && eyeToHeadLeft.m[1][2] == 0 && eyeToHeadLeft.m[1][3] == 0 &&
+						eyeToHeadLeft.m[2][0] == 0 && eyeToHeadLeft.m[2][1] == 0 && eyeToHeadLeft.m[2][2] == 1 && eyeToHeadLeft.m[2][3] == 0;
+
+					if (isCrystalHmd) {
+						// Move it outside the aapvr system ; we treat aapvr as if it were lighthouse
+						system = "Pimax Crystal HMD";
+					}
+				} else if (deviceClass == vr::TrackedDeviceClass_Controller && system == "oculus") {
+					vr::VRSystem()->GetStringTrackedDeviceProperty(id, vr::Prop_RenderModelName_String, buffer, vr::k_unMaxPropertyStringSize, &err);
+					std::string renderModel(buffer);
+					vr::VRSystem()->GetStringTrackedDeviceProperty(id, vr::Prop_ConnectedWirelessDongle_String, buffer, vr::k_unMaxPropertyStringSize, &err);
+					std::string connectedWirelessDongle(buffer);
+
+					// Check if the controller claims its an oculus controller but also pimax
+					if (renderModel.find("{aapvr}") != std::string::npos &&
+						renderModel.find("crystal") != std::string::npos &&
+						connectedWirelessDongle.find("lighthouse") != std::string::npos) {
+						system = "Pimax Crystal Controllers";
+					}
+				}
+
+				auto existing = std::find(trackingSystems.begin(), trackingSystems.end(), system);
+				if (existing != trackingSystems.end())
+				{
+					if (deviceClass == vr::TrackedDeviceClass_HMD)
+					{
+						trackingSystems.erase(existing);
+						trackingSystems.insert(trackingSystems.begin(), system);
+					}
+				}
+				else
+				{
+					trackingSystems.push_back(system);
+				}
+
+				VRDevice device;
+				device.id = id;
+				device.deviceClass = deviceClass;
+				device.trackingSystem = system;
+
+				vr::VRSystem()->GetStringTrackedDeviceProperty(id, vr::Prop_ModelNumber_String, buffer, vr::k_unMaxPropertyStringSize, &err);
+				device.model = std::string(buffer);
+
+				vr::VRSystem()->GetStringTrackedDeviceProperty(id, vr::Prop_SerialNumber_String, buffer, vr::k_unMaxPropertyStringSize, &err);
+				device.serial = std::string(buffer);
+
+				device.controllerRole = (vr::ETrackedControllerRole)vr::VRSystem()->GetInt32TrackedDeviceProperty(id, vr::Prop_ControllerRoleHint_Int32, &err);
+
+				state.devices.push_back(device);
+			}
+			else
+			{
+				printf("failed to get tracking system name for id %d\n", id);
+			}
+		}
+	}
+
+	return state;
+}
+
+int VRState::FindDevice(const std::string& trackingSystem, const std::string& model, const std::string& serial) const {
+	for (int i = 0; i < devices.size(); i++) {
+		const auto& device = devices[i];
+		
+		if (device.trackingSystem == trackingSystem && device.model == model && device.serial == serial) return device.id;
+	}
+
+	// allow fallback excluding serial for HMD specifically
+	for (int i = 0; i < devices.size(); i++) {
+		const auto& device = devices[i];
+
+		if (device.trackingSystem == trackingSystem && device.model == model && device.deviceClass == vr::TrackedDeviceClass::TrackedDeviceClass_HMD) return device.id;
+	}
+
+	return -1;
+}

OpenVR-SpaceCalibrator/VRState.h

@@ -0,0 +1,25 @@
+#pragma once
+
+#include <string>
+#include <vector>
+#include <openvr.h>
+
+struct VRDevice
+{
+	int id = -1;
+	vr::TrackedDeviceClass deviceClass;
+	std::string model = "";
+	std::string serial = "";
+	std::string trackingSystem = "";
+	vr::ETrackedControllerRole controllerRole = vr::TrackedControllerRole_Invalid;
+};
+
+struct VRState
+{
+	std::vector<std::string> trackingSystems;
+	std::vector<VRDevice> devices;
+
+	int FindDevice(const std::string& trackingSystem, const std::string& model, const std::string& serial) const;
+
+	static VRState Load();
+};

OpenVR-SpaceCalibrator/imgui_extensions.cpp

@@ -0,0 +1,128 @@
+#include "imgui_extensions.h"
+
+#define IMGUI_DEFINE_MATH_OPERATORS
+#include "imgui_internal.h"
+
+static ImVector<ImRect> s_GroupPanelLabelStack;
+
+void ImGui::BeginGroupPanel(const char* name, const ImVec2& size)
+{
+    ImGui::BeginGroup();
+
+    auto cursorPos = ImGui::GetCursorScreenPos();
+    auto itemSpacing = ImGui::GetStyle().ItemSpacing;
+    ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(0.0f, 0.0f));
+    ImGui::PushStyleVar(ImGuiStyleVar_ItemSpacing, ImVec2(0.0f, 0.0f));
+
+    auto frameHeight = ImGui::GetFrameHeight();
+    ImGui::BeginGroup();
+
+    ImVec2 effectiveSize = size;
+    if (size.x < 0.0f)
+        effectiveSize.x = ImGui::GetContentRegionAvail().x;
+    else
+        effectiveSize.x = size.x;
+    ImGui::Dummy(ImVec2(effectiveSize.x, 0.0f));
+
+    ImGui::Dummy(ImVec2(frameHeight * 0.5f, 0.0f));
+    ImGui::SameLine(0.0f, 0.0f);
+    ImGui::BeginGroup();
+    ImGui::Dummy(ImVec2(frameHeight * 0.5f, 0.0f));
+    ImGui::SameLine(0.0f, 0.0f);
+    ImGui::TextUnformatted(name);
+    auto labelMin = ImGui::GetItemRectMin();
+    auto labelMax = ImGui::GetItemRectMax();
+    ImGui::SameLine(0.0f, 0.0f);
+    ImGui::Dummy(ImVec2(0.0, frameHeight + itemSpacing.y));
+    ImGui::BeginGroup();
+
+    //ImGui::GetWindowDrawList()->AddRect(labelMin, labelMax, IM_COL32(255, 0, 255, 255));
+
+    ImGui::PopStyleVar(2);
+
+#if IMGUI_VERSION_NUM >= 17301
+    ImGui::GetCurrentWindow()->ContentRegionRect.Max.x -= frameHeight * 0.5f;
+    ImGui::GetCurrentWindow()->WorkRect.Max.x -= frameHeight * 0.5f;
+    ImGui::GetCurrentWindow()->InnerRect.Max.x -= frameHeight * 0.5f;
+#else
+    ImGui::GetCurrentWindow()->ContentsRegionRect.Max.x -= frameHeight * 0.5f;
+#endif
+    ImGui::GetCurrentWindow()->Size.x -= frameHeight;
+
+    auto itemWidth = ImGui::CalcItemWidth();
+    ImGui::PushItemWidth(ImMax(0.0f, itemWidth - frameHeight));
+
+    s_GroupPanelLabelStack.push_back(ImRect(labelMin, labelMax));
+}
+
+void ImGui::EndGroupPanel()
+{
+    ImGui::PopItemWidth();
+
+    auto itemSpacing = ImGui::GetStyle().ItemSpacing;
+
+    ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(0.0f, 0.0f));
+    ImGui::PushStyleVar(ImGuiStyleVar_ItemSpacing, ImVec2(0.0f, 0.0f));
+
+    auto frameHeight = ImGui::GetFrameHeight();
+
+    ImGui::EndGroup();
+
+    //ImGui::GetWindowDrawList()->AddRectFilled(ImGui::GetItemRectMin(), ImGui::GetItemRectMax(), IM_COL32(0, 255, 0, 64), 4.0f);
+
+    ImGui::EndGroup();
+
+    ImGui::SameLine(0.0f, 0.0f);
+    ImGui::Dummy(ImVec2(frameHeight * 0.5f, 0.0f));
+    ImGui::Dummy(ImVec2(0.0, frameHeight - frameHeight * 0.5f - itemSpacing.y));
+
+    ImGui::EndGroup();
+
+    auto itemMin = ImGui::GetItemRectMin();
+    auto itemMax = ImGui::GetItemRectMax();
+    //ImGui::GetWindowDrawList()->AddRectFilled(itemMin, itemMax, IM_COL32(255, 0, 0, 64), 4.0f);
+
+    auto labelRect = s_GroupPanelLabelStack.back();
+    s_GroupPanelLabelStack.pop_back();
+
+    ImVec2 halfFrame = ImVec2(frameHeight * 0.25f, frameHeight) * 0.5f;
+    ImRect frameRect = ImRect(itemMin + halfFrame, itemMax - ImVec2(halfFrame.x, 0.0f));
+    labelRect.Min.x -= itemSpacing.x;
+    labelRect.Max.x += itemSpacing.x;
+    for (int i = 0; i < 4; ++i)
+    {
+        switch (i)
+        {
+            // left half-plane
+        case 0: ImGui::PushClipRect(ImVec2(-FLT_MAX, -FLT_MAX), ImVec2(labelRect.Min.x, FLT_MAX), true); break;
+            // right half-plane
+        case 1: ImGui::PushClipRect(ImVec2(labelRect.Max.x, -FLT_MAX), ImVec2(FLT_MAX, FLT_MAX), true); break;
+            // top
+        case 2: ImGui::PushClipRect(ImVec2(labelRect.Min.x, -FLT_MAX), ImVec2(labelRect.Max.x, labelRect.Min.y), true); break;
+            // bottom
+        case 3: ImGui::PushClipRect(ImVec2(labelRect.Min.x, labelRect.Max.y), ImVec2(labelRect.Max.x, FLT_MAX), true); break;
+        }
+
+        ImGui::GetWindowDrawList()->AddRect(
+            frameRect.Min, frameRect.Max,
+            ImColor(ImGui::GetStyleColorVec4(ImGuiCol_Border)),
+            halfFrame.x);
+
+        ImGui::PopClipRect();
+    }
+
+    ImGui::PopStyleVar(2);
+
+#if IMGUI_VERSION_NUM >= 17301
+    ImGui::GetCurrentWindow()->ContentRegionRect.Max.x += frameHeight * 0.5f;
+    ImGui::GetCurrentWindow()->WorkRect.Max.x += frameHeight * 0.5f;
+    ImGui::GetCurrentWindow()->InnerRect.Max.x += frameHeight * 0.5f;
+#else
+    ImGui::GetCurrentWindow()->ContentsRegionRect.Max.x += frameHeight * 0.5f;
+#endif
+    ImGui::GetCurrentWindow()->Size.x += frameHeight;
+
+    ImGui::Dummy(ImVec2(0.0f, 0.0f));
+
+    ImGui::EndGroup();
+}

OpenVR-SpaceCalibrator/imgui_extensions.h

@@ -0,0 +1,12 @@
+#pragma once
+
+#include <imgui.h>
+
+namespace ImGui
+{
+	// Group panels taken from https://github.com/ocornut/imgui/issues/1496#issuecomment-655048353
+	// Licensed under CC0 license as per https://github.com/ocornut/imgui/issues/1496#issuecomment-1287772456
+
+	void BeginGroupPanel(const char* name, const ImVec2& size = ImVec2(0.0f, 0.0f));
+	void EndGroupPanel();
+}

OpenVR-SpaceCalibrator/stdafx.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#define EIGEN_MPL2_ONLY
+
 #include "targetver.h"
 
 #define WIN32_LEAN_AND_MEAN

OpenVR-SpaceCalibratorDriver/IPCServer.cpp

@@ -16,6 +16,16 @@ void IPCServer::HandleRequest(const protocol::Request &request, protocol::Respon
 		response.type = protocol::ResponseSuccess;
 		break;
 
+	case protocol::RequestDebugOffset:
+		driver->HandleApplyRandomOffset();
+		response.type = protocol::ResponseSuccess;
+		break;
+
+	case protocol::RequestSetAlignmentSpeedParams:
+		driver->HandleSetAlignmentSpeedParams(request.setAlignmentSpeedParams);
+		response.type = protocol::ResponseSuccess;
+		break;
+
 	default:
 		LOG("Invalid IPC request: %d", request.type);
 		break;

OpenVR-SpaceCalibratorDriver/IsometryTransform.h

@@ -0,0 +1,50 @@
+#pragma once 
+#define EIGEN_MPL2_ONLY
+
+#include <Eigen/Dense>
+
+/**
+ * Contains an isometric transformation, represented as the pair of a rotation quaternion and translation vector.
+ * The translation is applied to the left of the quaternion.
+ */
+struct IsoTransform {
+	Eigen::Quaterniond rotation;
+	Eigen::Vector3d translation;
+
+	IsoTransform() : rotation(Eigen::Quaterniond::Identity()), translation(Eigen::Vector3d::Zero()) {}
+	IsoTransform(const Eigen::Quaterniond &rot) : rotation(rot), translation(Eigen::Vector3d::Zero()) {}
+	IsoTransform(const Eigen::Vector3d &trans) : rotation(Eigen::Quaterniond::Identity()) {}
+	IsoTransform(const Eigen::Quaterniond& rot, const Eigen::Vector3d& trans) : rotation(rot), translation(trans) {}
+	
+	void pretranslate(const Eigen::Vector3d& t) {
+		translation += t;
+	}
+
+	/**
+	 * Interpolates between this transform and target. The position of localPoint after transformation will smoothly
+	 * lerp between (this * localPoint) and (target * localPoint), despite rotation occurring around it.
+	 */
+	IsoTransform interpolateAround(double lerp, const IsoTransform& target, const Eigen::Vector3d& localPoint) const;
+};
+
+inline IsoTransform operator*(const IsoTransform& a, const IsoTransform& b) {
+	// tA * rA * tB * rB = tA * (trans(rA * tB)) * rA * rB
+	auto rot = a.rotation * b.rotation;
+	Eigen::Vector3d trans = a.translation + Eigen::Isometry3d(a.rotation) * b.translation;
+
+	return IsoTransform(rot, trans);
+}
+
+inline Eigen::Vector3d operator*(const IsoTransform& a, const Eigen::Vector3d& p) {
+	return a.translation + Eigen::Isometry3d(a.rotation) * p;
+}
+
+inline IsoTransform IsoTransform::interpolateAround(double lerp, const IsoTransform& target, const Eigen::Vector3d& localPoint) const {
+	auto initialPos = (*this) * localPoint;
+	Eigen::Vector3d finalPos = initialPos * (1 - lerp) + (target * localPoint) * lerp;
+
+	auto newRotation = rotation.slerp(lerp, target.rotation);
+	Eigen::Vector3d newTranslation = finalPos - Eigen::Isometry3d(newRotation) * localPoint;
+
+	return IsoTransform(newRotation, newTranslation);
+}

OpenVR-SpaceCalibratorDriver/OpenVR-SpaceCalibratorDriver.vcxproj

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
-<Project DefaultTargets="Build" ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <ItemGroup Label="ProjectConfigurations">
     <ProjectConfiguration Include="Debug|x64">
       <Configuration>Debug</Configuration>
@@ -14,19 +14,19 @@
     <ProjectGuid>{A61324AD-CE32-46D1-A95E-7E28A6D8CCA7}</ProjectGuid>
     <Keyword>Win32Proj</Keyword>
     <RootNamespace>OpenVRSpaceCalibratorDriver</RootNamespace>
-    <WindowsTargetPlatformVersion>8.1</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
   </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>DynamicLibrary</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v140</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
     <ConfigurationType>DynamicLibrary</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v140</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
@@ -58,13 +58,13 @@
       <Optimization>Disabled</Optimization>
       <PreprocessorDefinitions>_DEBUG;_WINDOWS;_USRDLL;OPENVRSPACECALIBRATORDRIVER_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <SDLCheck>true</SDLCheck>
-      <AdditionalIncludeDirectories>..\lib\openvr;..\lib\MinHook\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\lib;..\lib\openvr;..\lib\MinHook\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
     </ClCompile>
     <Link>
       <SubSystem>Windows</SubSystem>
       <GenerateDebugInformation>true</GenerateDebugInformation>
       <AdditionalLibraryDirectories>..\lib\MinHook\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
-      <AdditionalDependencies>libMinHook-x64-v140-mdd.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies>
     </Link>
   </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
@@ -77,7 +77,7 @@
       <IntrinsicFunctions>true</IntrinsicFunctions>
       <PreprocessorDefinitions>NDEBUG;_WINDOWS;_USRDLL;OPENVRSPACECALIBRATORDRIVER_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <SDLCheck>true</SDLCheck>
-      <AdditionalIncludeDirectories>..\lib\openvr;..\lib\MinHook\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\lib;..\lib\openvr;..\lib\MinHook\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
     </ClCompile>
     <Link>
       <SubSystem>Windows</SubSystem>
@@ -85,7 +85,7 @@
       <OptimizeReferences>true</OptimizeReferences>
       <GenerateDebugInformation>true</GenerateDebugInformation>
       <AdditionalLibraryDirectories>..\lib\MinHook\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
-      <AdditionalDependencies>libMinHook-x64-v140-md.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies>
     </Link>
   </ItemDefinitionGroup>
   <ItemGroup>
@@ -93,6 +93,7 @@
     <ClInclude Include="Hooking.h" />
     <ClInclude Include="InterfaceHookInjector.h" />
     <ClInclude Include="IPCServer.h" />
+    <ClInclude Include="IsometryTransform.h" />
     <ClInclude Include="Logging.h" />
     <ClInclude Include="OpenVR-SpaceCalibratorDriver.h" />
     <ClInclude Include="ServerTrackedDeviceProvider.h" />
@@ -114,6 +115,11 @@
     <ClCompile Include="OpenVR-SpaceCalibratorDriver.cpp" />
     <ClCompile Include="ServerTrackedDeviceProvider.cpp" />
   </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\lib\minhook\build\VC16\libMinHook.vcxproj">
+      <Project>{f142a341-5ee0-442d-a15f-98ae9b48dbae}</Project>
+    </ProjectReference>
+  </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Label="ExtensionTargets">
   </ImportGroup>

OpenVR-SpaceCalibratorDriver/OpenVR-SpaceCalibratorDriver.vcxproj.filters

@@ -39,6 +39,9 @@
     <ClInclude Include="InterfaceHookInjector.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="IsometryTransform.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="OpenVR-SpaceCalibratorDriver.cpp">

OpenVR-SpaceCalibratorDriver/ServerTrackedDeviceProvider.cpp

@@ -1,6 +1,9 @@
 #include "ServerTrackedDeviceProvider.h"
 #include "Logging.h"
 #include "InterfaceHookInjector.h"
+#include "IsometryTransform.h"
+
+#include <random>
 
 vr::EVRInitError ServerTrackedDeviceProvider::Init(vr::IVRDriverContext *pDriverContext)
 {
@@ -8,9 +11,26 @@ vr::EVRInitError ServerTrackedDeviceProvider::Init(vr::IVRDriverContext *pDriver
 	VR_INIT_SERVER_DRIVER_CONTEXT(pDriverContext);
 
 	memset(transforms, 0, vr::k_unMaxTrackedDeviceCount * sizeof DeviceTransform);
+	memset(&alignmentSpeedParams, 0, sizeof alignmentSpeedParams);
+
+	alignmentSpeedParams.thr_rot_tiny = 0.1f * (EIGEN_PI / 180.0f);
+	alignmentSpeedParams.thr_rot_small = 1.0f * (EIGEN_PI / 180.0f);
+	alignmentSpeedParams.thr_rot_large = 5.0f * (EIGEN_PI / 180.0f);
+
+	alignmentSpeedParams.thr_trans_tiny = 0.1f / 1000.0; // mm
+	alignmentSpeedParams.thr_trans_small = 1.0f / 1000.0; // mm
+	alignmentSpeedParams.thr_trans_large = 20.0f / 1000.0; // mm
+	
+	alignmentSpeedParams.align_speed_tiny = 0.05f;
+	alignmentSpeedParams.align_speed_small = 0.2f;
+	alignmentSpeedParams.align_speed_large = 2.0f;
 
 	InjectHooks(this, pDriverContext);
 	server.Run();
+	shmem.Create(OPENVR_SPACECALIBRATOR_SHMEM_NAME);
+
+	debugTransform = Eigen::Vector3d::Zero();
+	debugRotation = Eigen::Quaterniond::Identity();
 
 	return vr::VRInitError_None;
 }
@@ -19,10 +39,129 @@ void ServerTrackedDeviceProvider::Cleanup()
 {
 	TRACE("ServerTrackedDeviceProvider::Cleanup()");
 	server.Stop();
+	shmem.Close();
 	DisableHooks();
 	VR_CLEANUP_SERVER_DRIVER_CONTEXT();
 }
 
+namespace {
+
+
+	vr::HmdQuaternion_t convert(const Eigen::Quaterniond& q) {
+		vr::HmdQuaternion_t result;
+		result.w = q.w();
+		result.x = q.x();
+		result.y = q.y();
+		result.z = q.z();
+		return result;
+	}
+
+	vr::HmdVector3_t convert(const Eigen::Vector3d& v) {
+		vr::HmdVector3_t result;
+		result.v[0] = (float) v.x();
+		result.v[1] = (float) v.y();
+		result.v[2] = (float) v.z();
+		return result;
+	}
+
+	Eigen::Quaterniond convert(const vr::HmdQuaternion_t& q) {
+		return Eigen::Quaterniond(q.w, q.x, q.y, q.z);
+	}
+
+	Eigen::Vector3d convert(const vr::HmdVector3d_t& v) {
+		return Eigen::Vector3d(v.v[0], v.v[1], v.v[2]);
+	}
+
+	Eigen::Vector3d convert(const double* arr) {
+		return Eigen::Vector3d(arr[0], arr[1], arr[2]);
+	}
+
+	IsoTransform toIsoWorldTransform(const vr::DriverPose_t& pose) {
+		Eigen::Quaterniond rot(pose.qWorldFromDriverRotation.w, pose.qWorldFromDriverRotation.x, pose.qWorldFromDriverRotation.y, pose.qWorldFromDriverRotation.z);
+		Eigen::Vector3d trans(pose.vecWorldFromDriverTranslation[0], pose.vecWorldFromDriverTranslation[1], pose.vecWorldFromDriverTranslation[2]);
+
+		return IsoTransform(rot, trans);
+	}
+
+	IsoTransform toIsoPose(const vr::DriverPose_t& pose) {
+		auto worldXform = toIsoWorldTransform(pose);
+
+		Eigen::Quaterniond rot(pose.qRotation.w, pose.qRotation.x, pose.qRotation.y, pose.qRotation.z);
+		Eigen::Vector3d trans(pose.vecPosition[0], pose.vecPosition[1], pose.vecPosition[2]);
+
+		return worldXform * IsoTransform(rot, trans);
+	}
+}
+
+
+/**
+ * This function heuristically evaluates the amount of drift between the src and target playspace transforms,
+ * evaluated centered on the `pose` device transform. This is then used to control the speed of realignment.
+ */
+ServerTrackedDeviceProvider::DeltaSize ServerTrackedDeviceProvider::GetTransformDeltaSize(
+	DeltaSize prior_delta,
+	const IsoTransform& deviceWorldPose,
+	const IsoTransform& src,
+	const IsoTransform& target
+) const {
+	const auto src_pose = src * deviceWorldPose;
+	const auto target_pose = target * deviceWorldPose;
+
+	const auto trans_delta = (src_pose.translation - target_pose.translation).squaredNorm();
+	const auto rot_delta = src_pose.rotation.angularDistance(target_pose.rotation);
+
+	DeltaSize trans_level, rot_level;
+
+	if (trans_delta > alignmentSpeedParams.thr_trans_large) trans_level = DeltaSize::LARGE;
+	else if (trans_delta > alignmentSpeedParams.thr_trans_small) trans_level = DeltaSize::SMALL;
+	else trans_level = DeltaSize::TINY;
+
+	if (rot_delta > alignmentSpeedParams.thr_rot_large) rot_level = DeltaSize::LARGE;
+	else if (rot_delta > alignmentSpeedParams.thr_rot_small) rot_level = DeltaSize::SMALL;
+	else rot_level = DeltaSize::TINY;
+
+	if (trans_level == DeltaSize::TINY && rot_level == DeltaSize::TINY) return DeltaSize::TINY;
+	else return max(prior_delta, max(trans_level, rot_level));
+}
+
+double ServerTrackedDeviceProvider::GetTransformRate(DeltaSize delta) const {
+	switch (delta) {
+	case DeltaSize::TINY: return alignmentSpeedParams.align_speed_tiny;
+	case DeltaSize::SMALL: return alignmentSpeedParams.align_speed_small;
+	default: return alignmentSpeedParams.align_speed_large;
+	}
+}
+
+/**
+ * Smoothly interpolates the device active transform towards the target transform.
+ */
+void ServerTrackedDeviceProvider::BlendTransform(DeviceTransform& device, const IsoTransform &deviceWorldPose) const {
+	LARGE_INTEGER timestamp, freq;
+	QueryPerformanceCounter(&timestamp);
+	QueryPerformanceFrequency(&freq);
+
+	double lerp = (timestamp.QuadPart - device.lastPoll.QuadPart) / (double)freq.QuadPart;
+	device.lastPoll = timestamp;
+	
+	lerp *= GetTransformRate(device.currentRate);
+	if (lerp > 1.0)
+		lerp = 1.0;
+	if (lerp < 0 || isnan(lerp))
+		lerp = 0;
+
+	device.transform = device.transform.interpolateAround(lerp, device.targetTransform, deviceWorldPose.translation);
+}
+
+void ServerTrackedDeviceProvider::ApplyTransform(DeviceTransform& device, vr::DriverPose_t& devicePose) const {
+	auto deviceWorldTransform = toIsoWorldTransform(devicePose);
+	deviceWorldTransform = device.transform * deviceWorldTransform;
+	devicePose.vecWorldFromDriverTranslation[0] = deviceWorldTransform.translation(0);
+	devicePose.vecWorldFromDriverTranslation[1] = deviceWorldTransform.translation(1);
+	devicePose.vecWorldFromDriverTranslation[2] = deviceWorldTransform.translation(2);
+	devicePose.qWorldFromDriverRotation = convert(deviceWorldTransform.rotation);
+}
+
+
 inline vr::HmdQuaternion_t operator*(const vr::HmdQuaternion_t &lhs, const vr::HmdQuaternion_t &rhs) {
 	return {
 		(lhs.w * rhs.w) - (lhs.x * rhs.x) - (lhs.y * rhs.y) - (lhs.z * rhs.z),
@@ -39,30 +178,80 @@ inline vr::HmdVector3d_t quaternionRotateVector(const vr::HmdQuaternion_t& quat,
 	return { rotatedVectorQuat.x, rotatedVectorQuat.y, rotatedVectorQuat.z };
 }
 
-void ServerTrackedDeviceProvider::SetDeviceTransform(const protocol::SetDeviceTransform &newTransform)
+void ServerTrackedDeviceProvider::SetDeviceTransform(const protocol::SetDeviceTransform& newTransform)
 {
 	auto &tf = transforms[newTransform.openVRID];
 	tf.enabled = newTransform.enabled;
 
-	if (newTransform.updateTranslation)
-		tf.translation = newTransform.translation;
+	if (newTransform.updateTranslation) {
+		tf.targetTransform.translation = convert(newTransform.translation);
+		if (!newTransform.lerp) {
+			tf.transform.translation = tf.targetTransform.translation;
+		}
+	}
 
-	if (newTransform.updateRotation)
-		tf.rotation = newTransform.rotation;
+	if (newTransform.updateRotation) {
+		tf.targetTransform.rotation = convert(newTransform.rotation);
+
+		if (!newTransform.lerp) {
+			tf.transform.rotation = tf.targetTransform.rotation;
+		}
+	}
+
+	if (newTransform.updateScale)
+		tf.scale = newTransform.scale;
+
+	tf.quash = newTransform.quash;
 }
 
 bool ServerTrackedDeviceProvider::HandleDevicePoseUpdated(uint32_t openVRID, vr::DriverPose_t &pose)
 {
-	auto &tf = transforms[openVRID];
-	if (tf.enabled)
-	{
-		pose.qWorldFromDriverRotation = tf.rotation * pose.qWorldFromDriverRotation;
-
-		vr::HmdVector3d_t rotatedTranslation = quaternionRotateVector(tf.rotation, pose.vecWorldFromDriverTranslation);
-		pose.vecWorldFromDriverTranslation[0] = rotatedTranslation.v[0] + tf.translation.v[0];
-		pose.vecWorldFromDriverTranslation[1] = rotatedTranslation.v[1] + tf.translation.v[1];
-		pose.vecWorldFromDriverTranslation[2] = rotatedTranslation.v[2] + tf.translation.v[2];
+	// Apply debug pose before anything else
+	if (openVRID > 0) {
+		auto dbgPos = convert(pose.vecPosition) + debugTransform;
+		auto dbgRot = convert(pose.qRotation) * debugRotation;
+		pose.qRotation = convert(dbgRot);
+		pose.vecPosition[0] = dbgPos(0);
+		pose.vecPosition[1] = dbgPos(1);
+		pose.vecPosition[2] = dbgPos(2);
 	}
+
+	shmem.SetPose(openVRID, pose);
+
+	auto& tf = transforms[openVRID];
+
+	if (tf.quash) {
+		pose.vecPosition[0] = -pose.vecWorldFromDriverTranslation[0];
+		pose.vecPosition[1] = -pose.vecWorldFromDriverTranslation[1] + 9001; // put it 9001m above the origin
+		pose.vecPosition[2] = -pose.vecWorldFromDriverTranslation[2];
+	} else if (tf.enabled)
+	{
+		// @TODO: Offset, scale, and re-offset
+		pose.vecPosition[0] *= tf.scale;
+		pose.vecPosition[1] *= tf.scale;
+		pose.vecPosition[2] *= tf.scale;
+
+		auto deviceWorldPose = toIsoPose(pose);
+		tf.currentRate = GetTransformDeltaSize(tf.currentRate, deviceWorldPose, tf.transform, tf.targetTransform);
+		double lerp = GetTransformRate(tf.currentRate);
+
+		BlendTransform(tf, deviceWorldPose);
+		ApplyTransform(tf, pose);
+	}
+
 	return true;
 }
 
+void ServerTrackedDeviceProvider::HandleApplyRandomOffset() {
+	std::random_device gen;
+	std::uniform_real_distribution<double> d(-1, 1);
+	auto init = Eigen::Vector3d(d(gen), d(gen), d(gen));
+	auto posOffset = init * 0.25f;
+
+	debugTransform = posOffset;
+	debugRotation = Eigen::Quaterniond::Identity();
+
+	std::ostringstream oss;
+	oss << "Applied random offset: " << posOffset << " from init " << init << std::endl;
+	LOG("%s", oss.str().c_str());
+}

OpenVR-SpaceCalibratorDriver/ServerTrackedDeviceProvider.h

@@ -1,9 +1,16 @@
 #pragma once
 
+#define EIGEN_MPL2_ONLY
+
 #include "IPCServer.h"
+#include "../Protocol.h"
+#include "IsometryTransform.h"
+
+#include <Eigen/Dense>
 
 #include <openvr_driver.h>
 
+
 class ServerTrackedDeviceProvider : public vr::IServerTrackedDeviceProvider
 {
 public:
@@ -37,16 +44,48 @@ public:
 	ServerTrackedDeviceProvider() : server(this) { }
 	void SetDeviceTransform(const protocol::SetDeviceTransform &newTransform);
 	bool HandleDevicePoseUpdated(uint32_t openVRID, vr::DriverPose_t &pose);
+	void HandleApplyRandomOffset();
+	void HandleSetAlignmentSpeedParams(const protocol::AlignmentSpeedParams params) {
+		alignmentSpeedParams = params;
+	}
 
 private:
 	IPCServer server;
+	protocol::DriverPoseShmem shmem;
+
+	enum DeltaSize {
+		TINY,
+		SMALL,
+		LARGE
+	};
 
 	struct DeviceTransform
 	{
 		bool enabled = false;
-		vr::HmdVector3d_t translation;
-		vr::HmdQuaternion_t rotation;
+		bool quash = false;
+		IsoTransform transform, targetTransform;
+		double scale;
+		LARGE_INTEGER lastPoll;
+		DeltaSize currentRate = DeltaSize::TINY;
 	};
 
 	DeviceTransform transforms[vr::k_unMaxTrackedDeviceCount];
+	Eigen::Vector3d debugTransform;
+	Eigen::Quaterniond debugRotation;
+
+	DeltaSize currentDeltaSpeed[vr::k_unMaxTrackedDeviceCount];
+
+	protocol::AlignmentSpeedParams alignmentSpeedParams;
+
+	DeltaSize GetTransformDeltaSize(
+		DeltaSize prior_delta,
+		const IsoTransform& deviceWorldPose,
+		const IsoTransform& src,
+		const IsoTransform& target
+	) const;
+
+	double GetTransformRate(DeltaSize delta) const;
+
+	void BlendTransform(DeviceTransform& device, const IsoTransform& deviceWorldPose) const;
+	void ApplyTransform(DeviceTransform& device, vr::DriverPose_t& devicePose) const;
 };

OpenVR-SpaceCalibratorDriver/dllmain.cpp

@@ -1,4 +1,5 @@
 #include "Logging.h"
+#include "../Version.h"
 
 #define WIN32_LEAN_AND_MEAN
 #include <windows.h>
@@ -10,7 +11,7 @@ BOOL APIENTRY DllMain(HMODULE hModule, DWORD ul_reason_for_call, LPVOID lpReserv
 	{
 	case DLL_PROCESS_ATTACH:
 		OpenLogFile();
-		LOG("OpenVR-SpaceCalibratorDriver loaded");
+		LOG("OpenVR-SpaceCalibratorDriver " SPACECAL_VERSION_STRING " loaded");
 		break;
 	case DLL_PROCESS_DETACH:
 		LOG("OpenVR-SpaceCalibratorDriver unloaded");

Protocol.h

@@ -1,22 +1,106 @@
 #pragma once
 
+#include <windows.h>
 #include <cstdint>
+#include <atomic>
+#include <stdexcept>
+#include <functional>
 
 #ifndef _OPENVR_API
 #include <openvr_driver.h>
 #endif
 
 #define OPENVR_SPACECALIBRATOR_PIPE_NAME "\\\\.\\pipe\\OpenVRSpaceCalibratorDriver"
+#define OPENVR_SPACECALIBRATOR_SHMEM_NAME "OpenVRSpaceCalibratorPoseMemoryV1"
+
+#ifdef _OPENVR_API 
+
+namespace vr {
+	// We can't include openvr_driver.h as it will result in multiple definition of some structures.
+	// However, we need to share driver-specific structures with the client application, so duplicate them
+	// here.
+
+	struct DriverPose_t
+	{
+		/* Time offset of this pose, in seconds from the actual time of the pose,
+		 * relative to the time of the PoseUpdated() call made by the driver.
+		 */
+		double poseTimeOffset;
+
+		/* Generally, the pose maintained by a driver
+		 * is in an inertial coordinate system different
+		 * from the world system of x+ right, y+ up, z+ back.
+		 * Also, the driver is not usually tracking the "head" position,
+		 * but instead an internal IMU or another reference point in the HMD.
+		 * The following two transforms transform positions and orientations
+		 * to app world space from driver world space,
+		 * and to HMD head space from driver local body space.
+		 *
+		 * We maintain the driver pose state in its internal coordinate system,
+		 * so we can do the pose prediction math without having to
+		 * use angular acceleration.  A driver's angular acceleration is generally not measured,
+		 * and is instead calculated from successive samples of angular velocity.
+		 * This leads to a noisy angular acceleration values, which are also
+		 * lagged due to the filtering required to reduce noise to an acceptable level.
+		 */
+		vr::HmdQuaternion_t qWorldFromDriverRotation;
+		double vecWorldFromDriverTranslation[3];
+
+		vr::HmdQuaternion_t qDriverFromHeadRotation;
+		double vecDriverFromHeadTranslation[3];
+
+		/* State of driver pose, in meters and radians. */
+		/* Position of the driver tracking reference in driver world space
+		* +[0] (x) is right
+		* +[1] (y) is up
+		* -[2] (z) is forward
+		*/
+		double vecPosition[3];
+
+		/* Velocity of the pose in meters/second */
+		double vecVelocity[3];
+
+		/* Acceleration of the pose in meters/second */
+		double vecAcceleration[3];
+
+		/* Orientation of the tracker, represented as a quaternion */
+		vr::HmdQuaternion_t qRotation;
+
+		/* Angular velocity of the pose in axis-angle
+		* representation. The direction is the angle of
+		* rotation and the magnitude is the angle around
+		* that axis in radians/second. */
+		double vecAngularVelocity[3];
+
+		/* Angular acceleration of the pose in axis-angle
+		* representation. The direction is the angle of
+		* rotation and the magnitude is the angle around
+		* that axis in radians/second^2. */
+		double vecAngularAcceleration[3];
+
+		ETrackingResult result;
+
+		bool poseIsValid;
+		bool willDriftInYaw;
+		bool shouldApplyHeadModel;
+		bool deviceIsConnected;
+	};
+
+}
+
+#endif
 
 namespace protocol
 {
-	const uint32_t Version = 1;
+	const uint32_t Version = 4;
 
 	enum RequestType
 	{
 		RequestInvalid,
 		RequestHandshake,
 		RequestSetDeviceTransform,
+		RequestSetAlignmentSpeedParams,
+		RequestDebugOffset
 	};
 
 	enum ResponseType
@@ -31,26 +115,59 @@ namespace protocol
 		uint32_t version = Version;
 	};
 
+	struct AlignmentSpeedParams
+	{
+		/**
+		 * The threshold at which we adjust the alignment speed based on the position offset
+		 * between current and target calibrations. Generally, we increase the speed if we go
+		 * above small/large, and decrease it only once it's under tiny.
+		 * 
+		 * These values are expressed as distance squared
+		 */
+		double thr_trans_tiny, thr_trans_small, thr_trans_large;
+
+		/**
+		 * Similar thresholds for rotation offsets, in radians
+		 */
+		double thr_rot_tiny, thr_rot_small, thr_rot_large;
+		
+		/**
+		 * The speed of alignment, expressed as a lerp/slerp factor. 1 will blend most of the way in <1 second.
+		 * (We actually do a lerp(s * delta_t) where s is the speed factor here)
+		 */
+		double align_speed_tiny, align_speed_small, align_speed_large;
+	};
+
 	struct SetDeviceTransform
 	{
 		uint32_t openVRID;
 		bool enabled;
 		bool updateTranslation;
 		bool updateRotation;
+		bool updateScale;
 		vr::HmdVector3d_t translation;
 		vr::HmdQuaternion_t rotation;
+		double scale;
+		bool lerp;
+		bool quash;
 
 		SetDeviceTransform(uint32_t id, bool enabled) :
-			openVRID(id), enabled(enabled), updateTranslation(false), updateRotation(false) { }
+			openVRID(id), enabled(enabled), updateTranslation(false), updateRotation(false), updateScale(false), lerp(false), quash(false) { }
 
 		SetDeviceTransform(uint32_t id, bool enabled, vr::HmdVector3d_t translation) :
-			openVRID(id), enabled(enabled), updateTranslation(true), updateRotation(false), translation(translation) { }
+			openVRID(id), enabled(enabled), updateTranslation(true), updateRotation(false), updateScale(false), translation(translation), lerp(false), quash(false) { }
 
 		SetDeviceTransform(uint32_t id, bool enabled, vr::HmdQuaternion_t rotation) :
-			openVRID(id), enabled(enabled), updateTranslation(false), updateRotation(true), rotation(rotation) { }
+			openVRID(id), enabled(enabled), updateTranslation(false), updateRotation(true), updateScale(false), rotation(rotation), lerp(false), quash(false) { }
+
+		SetDeviceTransform(uint32_t id, bool enabled, double scale) :
+			openVRID(id), enabled(enabled), updateTranslation(false), updateRotation(false), updateScale(true), scale(scale), lerp(false), quash(false) { }
 
 		SetDeviceTransform(uint32_t id, bool enabled, vr::HmdVector3d_t translation, vr::HmdQuaternion_t rotation) :
-			openVRID(id), enabled(enabled), updateTranslation(true), updateRotation(true), translation(translation), rotation(rotation) { }
+			openVRID(id), enabled(enabled), updateTranslation(true), updateRotation(true), updateScale(false), translation(translation), rotation(rotation), lerp(false), quash(false) { }
+
+		SetDeviceTransform(uint32_t id, bool enabled, vr::HmdVector3d_t translation, vr::HmdQuaternion_t rotation, double scale) :
+			openVRID(id), enabled(enabled), updateTranslation(true), updateRotation(true), updateScale(true), translation(translation), rotation(rotation), scale(scale), lerp(false), quash(false) { }
 	};
 
 	struct Request
@@ -59,10 +176,12 @@ namespace protocol
 
 		union {
 			SetDeviceTransform setDeviceTransform;
+			AlignmentSpeedParams setAlignmentSpeedParams;
 		};
 
 		Request() : type(RequestInvalid) { }
 		Request(RequestType type) : type(type) { }
+		Request(AlignmentSpeedParams params) : type(RequestType::RequestSetAlignmentSpeedParams), setAlignmentSpeedParams(params) {}
 	};
 
 	struct Response
@@ -76,4 +195,168 @@ namespace protocol
 		Response() : type(ResponseInvalid) { }
 		Response(ResponseType type) : type(type) { }
 	};
+
+	class DriverPoseShmem {
+	public:
+		struct AugmentedPose {
+			LARGE_INTEGER sample_time;
+			int deviceId;
+			vr::DriverPose_t pose;
+		};
+	private:
+		static const uint32_t SYNC_ACTIVE_POSE_B = 0x80000000;
+		static const uint32_t BUFFERED_SAMPLES = 64 * 1024;
+
+		struct ShmemData {
+			std::atomic<uint64_t> index;
+			AugmentedPose poses[BUFFERED_SAMPLES];
+		};
+		
+	private:
+		HANDLE hMapFile;
+		ShmemData* pData;
+		uint64_t cursor;
+
+		AugmentedPose lastPose[vr::k_unMaxTrackedDeviceCount];
+
+		std::string LastErrorString(DWORD lastError)
+		{
+			LPSTR buffer = nullptr;
+			size_t size = FormatMessageA(
+				FORMAT_MESSAGE_ALLOCATE_BUFFER | FORMAT_MESSAGE_FROM_SYSTEM | FORMAT_MESSAGE_IGNORE_INSERTS,
+				NULL, lastError, MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT), (LPSTR)&buffer, 0, NULL
+			);
+
+			std::string message(buffer, size);
+			LocalFree(buffer);
+			return message;
+		}
+
+	public:
+		operator bool() const {
+			return pData != nullptr;
+		}
+
+		bool operator!() const {
+			return pData == nullptr;
+		}
+
+		DriverPoseShmem() {
+			hMapFile = INVALID_HANDLE_VALUE;
+			pData = nullptr;
+			cursor = 0;
+		}
+
+		~DriverPoseShmem() {
+			Close();
+		}
+
+		void Close() {
+			if (pData) UnmapViewOfFile(pData);
+			if (hMapFile) CloseHandle(hMapFile);
+		}
+
+		bool Create(LPCSTR segment_name) {
+			Close();
+
+			hMapFile = CreateFileMappingA(
+				INVALID_HANDLE_VALUE,
+				NULL,
+				PAGE_READWRITE,
+				0,
+				sizeof(ShmemData),
+				segment_name
+			);
+
+			if (!hMapFile) return false;
+
+			pData = reinterpret_cast<ShmemData*>(MapViewOfFile(
+				hMapFile,
+				FILE_MAP_ALL_ACCESS,
+				0,
+				0,
+				sizeof(ShmemData)
+			));
+
+			return !!pData;
+		}
+
+
+		void Open(LPCSTR segment_name) {
+			Close();
+
+			hMapFile = OpenFileMappingA(
+				FILE_MAP_ALL_ACCESS,
+				FALSE,
+				segment_name
+			);
+
+			if (!hMapFile) {
+				throw std::runtime_error("Failed to open pose data shared memory segment: " + LastErrorString(GetLastError()));
+			}
+
+			pData = reinterpret_cast<ShmemData*>(MapViewOfFile(
+				hMapFile,
+				FILE_MAP_ALL_ACCESS,
+				0,
+				0,
+				sizeof(ShmemData)
+			));
+
+			if (!pData) {
+				throw std::runtime_error("Failed to map pose data shared memory segment: " + LastErrorString(GetLastError()));
+			}
+
+			char tmp[256];
+			snprintf(tmp, sizeof tmp, "Opened shmem segment: %p\n", pData);
+			OutputDebugStringA(tmp);
+		}
+
+		void ReadNewPoses(std::function<void(AugmentedPose const&)> cb) {
+			if (!pData) throw std::runtime_error("Not open");
+			
+			uint64_t cur_index = pData->index.load(std::memory_order_acquire);
+			if (cur_index < cursor || cur_index - cursor > BUFFERED_SAMPLES / 2) {
+				if (cur_index < BUFFERED_SAMPLES / 2)
+					cursor = cur_index;
+				else
+					cursor = cur_index - BUFFERED_SAMPLES / 2;
+			}
+
+			while (cursor < cur_index) {
+				cb(pData->poses[cursor % BUFFERED_SAMPLES]);
+				cursor++;
+			}
+
+			std::atomic_thread_fence(std::memory_order_release);
+		}
+
+		bool GetPose(int index, vr::DriverPose_t& pose, LARGE_INTEGER *pSampleTime = NULL) {
+			ReadNewPoses([this](AugmentedPose const& pose) {
+				if (pose.pose.poseIsValid) {
+					this->lastPose[pose.deviceId] = pose;
+				}
+			});
+
+			if (index >= 0 && index < vr::k_unMaxTrackedDeviceCount) {
+				pose = lastPose[index].pose;
+				if (pSampleTime) *pSampleTime = lastPose[index].sample_time;
+				return true;
+			}
+		}
+
+		void SetPose(int index, const vr::DriverPose_t& pose) {
+			if (index >= vr::k_unMaxTrackedDeviceCount) return;
+			if (pData == nullptr) return;
+
+			AugmentedPose augPose;
+			augPose.deviceId = index;
+			augPose.pose = pose;
+			QueryPerformanceCounter(&augPose.sample_time);
+
+			uint64_t cur_index = pData->index.load(std::memory_order_relaxed) + 1;
+			pData->poses[cur_index % BUFFERED_SAMPLES] = augPose;
+			pData->index.store(cur_index, std::memory_order_release);
+		}
+	};
 }

README.md

@@ -7,15 +7,13 @@ This helps you use tracked VR devices from one company with any other. It aligns
 - Quest wireless streaming is particularly bad right now and requires frequent recalibration, but it does work for a short time until one of many factors causes it to drift. With wireless devices, moving slowly when calibrating and using the Slow or Very Slow calibration modes is effective at reducing the initial error.
 - Any non-Rift HMD x Touch controllers: does not work, the Oculus driver requires the HMD is a Rift. It's theoretically possible to work around this in software but as far as I know it hasn't been done as it would require a fair amount of reverse engineering effort.
 
-There is a community of a few thousand users on [Discord][].
+There is a community of a few thousand on [**Discord**](https://discord.gg/m7g2Wyj) and a newer community on [**Reddit**](https://www.reddit.com/r/MixedVR/). You may find the answer to your question in [the **wiki**](https://github.com/pushrax/OpenVR-SpaceCalibrator/wiki).
 
 A quick video of how this works using an old version (~v0.3) is available at https://www.youtube.com/watch?v=W3TnQd9JMl4. The user interface has been upgraded since then; the calibration is now done via a SteamVR dashboard menu, and there's much more configurability.
 
-[Discord]: https://discord.gg/m7g2Wyj
-
 ### Install
 
-Before following the directions below, download and run the installer for the [latest release](https://github.com/pushrax/OpenVR-SpaceCalibrator/releases). This will automatically set up SteamVR for use with multiple tracking systems (`activateMultipleDrivers: true`). There are many guides that say you need to edit the SteamVR config manually. You do not.
+Before following the directions below, download and run the installer for the [latest release](https://github.com/hyblocker/OpenVR-SpaceCalibrator/releases/latest). This will automatically set up SteamVR for use with multiple tracking systems (`activateMultipleDrivers: true`). There are many guides that say you need to edit the SteamVR config manually. You do not.
 
 ### Usage
 
@@ -23,22 +21,46 @@ Once Space Calibrator has a calibration, it works in the background to keep your
 
 ### Calibration
 
+This fork supports continuous calibration. This means that there are two ways to calibrate:
+
+#### 1. Normal Calibration
+
+>  Use this if you do not have a tracker on your VR headset.
+
 As part of first time setup, or when you make a change to your space (e.g. move a sensor), and occasionally as the calibration drifts over time (consumer VR tracking isn't perfectly stable), you'll need to run a calibration:
 
 1. Copy the chaperone/guardian bounds from your HMD's play space. This doesn't need to be run if your HMD's play space hasn't changed since last time you copied it. __Example:__ if you're using the Rift with Vive trackers and you bump a Vive lighthouse, or if the calibration has just drifted a little, you likely don't need to run this step, but if you bump an Oculus sensor you will (after running Oculus guardian setup again).
-    1. Run SteamVR, with only devices from your HMD's tracking system powered on. __Example:__ for Rift with Vive trackers, don't turn on the trackers yet.
-    2. Confirm your chaperone/guardian is set up with the walls in the right place. If you change it later, you need to run step again.
-    3. Open SPACE CAL in the SteamVR dashboard overlay.
-    4. Click `Copy Chaperone Bounds to profile`
+   
+   1. Run SteamVR, with only devices from your HMD's tracking system powered on. __Example:__ for Rift with Vive trackers, don't turn on the trackers yet.
+   2. Confirm your chaperone/guardian is set up with the walls in the right place. If you change it later, you need to run step again.
+   3. Open SPACE CAL in the SteamVR dashboard overlay.
+   4. Click `Copy Chaperone Bounds to profile`
 
 2. Calibrate devices.
-    1. Open SteamVR if you haven't already. Turn on some or all your devices.
-    2. Open SPACE CAL in the SteamVR dashboard overlay.
-    3. Select one device from the reference space on the left and one device from the target space on the right. If you turned on multiple devices from one space and can't tell which one is selected, click "Identify selected devices" to blink an LED or vibrate it. __Example:__ for Rift with Vive trackers, you'll see the Touch controllers on the left, and Vive trackers on the right. __Pro tip:__ if you turn on just one Vive tracker, you don't have to figure out which one is selected.
-    4. Hold these two devices in one hand, like they're glued together. If they slip, calibration won't work as well.
-    5. Click `Start Calibration`
-    6. Move and rotate your hand around slowly a few times, like you're calibrating the compass on your phone. You want to sample as many orientations as possible.
-    7. Done! A profile will be saved automatically. If you haven't already, turn on all your devices. Space Calibrator will automatically apply the calibration to devices as they turn on.
+   
+   1. Open SteamVR if you haven't already. Turn on some or all your devices.
+   2. Open SPACE CAL in the SteamVR dashboard overlay.
+   3. Select one device from the reference space on the left and one device from the target space on the right. If you turned on multiple devices from one space and can't tell which one is selected, click "Identify selected devices" to blink an LED or vibrate it. __Example:__ for Rift with Vive trackers, you'll see the Touch controllers on the left, and Vive trackers on the right. __Pro tip:__ if you turn on just one Vive tracker, you don't have to figure out which one is selected.
+   4. Hold these two devices in one hand, like they're glued together. If they slip, calibration won't work as well.
+   5. Click `Start Calibration`
+   6. Move and rotate your hand around slowly a few times, like you're calibrating the compass on your phone. You want to sample as many orientations as possible.
+   7. Done! A profile will be saved automatically. If you haven't already, turn on all your devices. Space Calibrator will automatically apply the calibration to devices as they turn on.
+
+#### 2. Continuous Calibration
+
+> Use this only if you have a tracker on your VR headset.
+
+Continuous calibration allows you to calibrate playspaces continuously, eliminating the need to do any of the work above.
+
+1. Start SteamVR with the VR headset you wish to use.
+
+2. Turn on **ONLY** the tracker which is attached on the VR headset.
+
+3. Select the VR headset and tracker and calibrate.
+
+4. Turn on your other devices.
+
+5. You should see them line up with you as you after moving around your playspace for a bit for an initial calibration.
 
 ### Calibration outside VR
 
@@ -46,7 +68,7 @@ You can calibrate without using the dashboard overlay by unminimizing Space Cali
 
 ### Compiling your own build
 
-Open `OpenVR-SpaceCalibrator.sln` in Visual Studio 2015 and build. There are no external dependencies.
+Open `OpenVR-SpaceCalibrator.sln` in Visual Studio 2017 and build. There are no external dependencies.
 
 ### The math
 

Version.h

@@ -0,0 +1,3 @@
+#pragma once
+
+#define SPACECAL_VERSION_STRING "1.4-contcal-r8"

install/installer.nsi

@@ -98,7 +98,7 @@ Section "Install" SecInstall
 
 	File "..\LICENSE"
 	File "..\x64\Release\OpenVR-SpaceCalibrator.exe"
-	File "..\x64\Release\openvr_api.dll"
+	File "..\lib\openvr\lib\win64\openvr_api.dll"
 	File "..\OpenVR-SpaceCalibrator\manifest.vrmanifest"
 	File "..\OpenVR-SpaceCalibrator\icon.png"
 

lib/MinHook/LICENSE

@@ -1,81 +0,0 @@
-MinHook - The Minimalistic API Hooking Library for x64/x86
-Copyright (C) 2009-2017 Tsuda Kageyu.
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions
-are met:
-
- 1. Redistributions of source code must retain the above copyright
-    notice, this list of conditions and the following disclaimer.
- 2. Redistributions in binary form must reproduce the above copyright
-    notice, this list of conditions and the following disclaimer in the
-    documentation and/or other materials provided with the distribution.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
-TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
-PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER
-OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
-EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
-PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
-PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
-LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
-NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
-================================================================================
-Portions of this software are Copyright (c) 2008-2009, Vyacheslav Patkov.
-================================================================================
-Hacker Disassembler Engine 32 C
-Copyright (c) 2008-2009, Vyacheslav Patkov.
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions
-are met:
-
- 1. Redistributions of source code must retain the above copyright
-    notice, this list of conditions and the following disclaimer.
- 2. Redistributions in binary form must reproduce the above copyright
-    notice, this list of conditions and the following disclaimer in the
-    documentation and/or other materials provided with the distribution.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
-TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
-PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR
-CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
-EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
-PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
-PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
-LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
-NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
--------------------------------------------------------------------------------
-Hacker Disassembler Engine 64 C
-Copyright (c) 2008-2009, Vyacheslav Patkov.
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions
-are met:
-
- 1. Redistributions of source code must retain the above copyright
-    notice, this list of conditions and the following disclaimer.
- 2. Redistributions in binary form must reproduce the above copyright
-    notice, this list of conditions and the following disclaimer in the
-    documentation and/or other materials provided with the distribution.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
-TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
-PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR
-CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
-EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
-PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
-PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
-LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
-NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

lib/MinHook/include/MinHook.h

@@ -1,186 +0,0 @@
-/*
- *  MinHook - The Minimalistic API Hooking Library for x64/x86
- *  Copyright (C) 2009-2017 Tsuda Kageyu.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   1. Redistributions of source code must retain the above copyright
- *      notice, this list of conditions and the following disclaimer.
- *   2. Redistributions in binary form must reproduce the above copyright
- *      notice, this list of conditions and the following disclaimer in the
- *      documentation and/or other materials provided with the distribution.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
- *  TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
- *  PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER
- *  OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
- *  EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
- *  PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
- *  PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
- *  LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
- *  NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- *  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-#pragma once
-
-#if !(defined _M_IX86) && !(defined _M_X64) && !(defined __i386__) && !(defined __x86_64__)
-    #error MinHook supports only x86 and x64 systems.
-#endif
-
-#include <windows.h>
-
-// MinHook Error Codes.
-typedef enum MH_STATUS
-{
-    // Unknown error. Should not be returned.
-    MH_UNKNOWN = -1,
-
-    // Successful.
-    MH_OK = 0,
-
-    // MinHook is already initialized.
-    MH_ERROR_ALREADY_INITIALIZED,
-
-    // MinHook is not initialized yet, or already uninitialized.
-    MH_ERROR_NOT_INITIALIZED,
-
-    // The hook for the specified target function is already created.
-    MH_ERROR_ALREADY_CREATED,
-
-    // The hook for the specified target function is not created yet.
-    MH_ERROR_NOT_CREATED,
-
-    // The hook for the specified target function is already enabled.
-    MH_ERROR_ENABLED,
-
-    // The hook for the specified target function is not enabled yet, or already
-    // disabled.
-    MH_ERROR_DISABLED,
-
-    // The specified pointer is invalid. It points the address of non-allocated
-    // and/or non-executable region.
-    MH_ERROR_NOT_EXECUTABLE,
-
-    // The specified target function cannot be hooked.
-    MH_ERROR_UNSUPPORTED_FUNCTION,
-
-    // Failed to allocate memory.
-    MH_ERROR_MEMORY_ALLOC,
-
-    // Failed to change the memory protection.
-    MH_ERROR_MEMORY_PROTECT,
-
-    // The specified module is not loaded.
-    MH_ERROR_MODULE_NOT_FOUND,
-
-    // The specified function is not found.
-    MH_ERROR_FUNCTION_NOT_FOUND
-}
-MH_STATUS;
-
-// Can be passed as a parameter to MH_EnableHook, MH_DisableHook,
-// MH_QueueEnableHook or MH_QueueDisableHook.
-#define MH_ALL_HOOKS NULL
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-    // Initialize the MinHook library. You must call this function EXACTLY ONCE
-    // at the beginning of your program.
-    MH_STATUS WINAPI MH_Initialize(VOID);
-
-    // Uninitialize the MinHook library. You must call this function EXACTLY
-    // ONCE at the end of your program.
-    MH_STATUS WINAPI MH_Uninitialize(VOID);
-
-    // Creates a Hook for the specified target function, in disabled state.
-    // Parameters:
-    //   pTarget    [in]  A pointer to the target function, which will be
-    //                    overridden by the detour function.
-    //   pDetour    [in]  A pointer to the detour function, which will override
-    //                    the target function.
-    //   ppOriginal [out] A pointer to the trampoline function, which will be
-    //                    used to call the original target function.
-    //                    This parameter can be NULL.
-    MH_STATUS WINAPI MH_CreateHook(LPVOID pTarget, LPVOID pDetour, LPVOID *ppOriginal);
-
-    // Creates a Hook for the specified API function, in disabled state.
-    // Parameters:
-    //   pszModule  [in]  A pointer to the loaded module name which contains the
-    //                    target function.
-    //   pszTarget  [in]  A pointer to the target function name, which will be
-    //                    overridden by the detour function.
-    //   pDetour    [in]  A pointer to the detour function, which will override
-    //                    the target function.
-    //   ppOriginal [out] A pointer to the trampoline function, which will be
-    //                    used to call the original target function.
-    //                    This parameter can be NULL.
-    MH_STATUS WINAPI MH_CreateHookApi(
-        LPCWSTR pszModule, LPCSTR pszProcName, LPVOID pDetour, LPVOID *ppOriginal);
-
-    // Creates a Hook for the specified API function, in disabled state.
-    // Parameters:
-    //   pszModule  [in]  A pointer to the loaded module name which contains the
-    //                    target function.
-    //   pszTarget  [in]  A pointer to the target function name, which will be
-    //                    overridden by the detour function.
-    //   pDetour    [in]  A pointer to the detour function, which will override
-    //                    the target function.
-    //   ppOriginal [out] A pointer to the trampoline function, which will be
-    //                    used to call the original target function.
-    //                    This parameter can be NULL.
-    //   ppTarget   [out] A pointer to the target function, which will be used
-    //                    with other functions.
-    //                    This parameter can be NULL.
-    MH_STATUS WINAPI MH_CreateHookApiEx(
-        LPCWSTR pszModule, LPCSTR pszProcName, LPVOID pDetour, LPVOID *ppOriginal, LPVOID *ppTarget);
-
-    // Removes an already created hook.
-    // Parameters:
-    //   pTarget [in] A pointer to the target function.
-    MH_STATUS WINAPI MH_RemoveHook(LPVOID pTarget);
-
-    // Enables an already created hook.
-    // Parameters:
-    //   pTarget [in] A pointer to the target function.
-    //                If this parameter is MH_ALL_HOOKS, all created hooks are
-    //                enabled in one go.
-    MH_STATUS WINAPI MH_EnableHook(LPVOID pTarget);
-
-    // Disables an already created hook.
-    // Parameters:
-    //   pTarget [in] A pointer to the target function.
-    //                If this parameter is MH_ALL_HOOKS, all created hooks are
-    //                disabled in one go.
-    MH_STATUS WINAPI MH_DisableHook(LPVOID pTarget);
-
-    // Queues to enable an already created hook.
-    // Parameters:
-    //   pTarget [in] A pointer to the target function.
-    //                If this parameter is MH_ALL_HOOKS, all created hooks are
-    //                queued to be enabled.
-    MH_STATUS WINAPI MH_QueueEnableHook(LPVOID pTarget);
-
-    // Queues to disable an already created hook.
-    // Parameters:
-    //   pTarget [in] A pointer to the target function.
-    //                If this parameter is MH_ALL_HOOKS, all created hooks are
-    //                queued to be disabled.
-    MH_STATUS WINAPI MH_QueueDisableHook(LPVOID pTarget);
-
-    // Applies all queued changes in one go.
-    MH_STATUS WINAPI MH_ApplyQueued(VOID);
-
-    // Translates the MH_STATUS to its name as a string.
-    const char * WINAPI MH_StatusToString(MH_STATUS status);
-
-#ifdef __cplusplus
-}
-#endif
-

lib/imgui/LICENSE.txt

@@ -1,6 +1,6 @@
 The MIT License (MIT)
 
-Copyright (c) 2014-2018 Omar Cornut
+Copyright (c) 2014-2022 Omar Cornut
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

lib/imgui/imconfig.h

@@ -3,10 +3,11 @@
 // Runtime options (clipboard callbacks, enabling various features, etc.) can generally be set via the ImGuiIO structure.
 // You can use ImGui::SetAllocatorFunctions() before calling ImGui::CreateContext() to rewire memory allocation functions.
 //-----------------------------------------------------------------------------
-// A) You may edit imconfig.h (and not overwrite it when updating imgui, or maintain a patch/branch with your modifications to imconfig.h)
-// B) or add configuration directives in your own file and compile with #define IMGUI_USER_CONFIG "myfilename.h"
-// If you do so you need to make sure that configuration settings are defined consistently _everywhere_ dear imgui is used, which include
-// the imgui*.cpp files but also _any_ of your code that uses imgui. This is because some compile-time options have an affect on data structures.
+// A) You may edit imconfig.h (and not overwrite it when updating Dear ImGui, or maintain a patch/rebased branch with your modifications to it)
+// B) or '#define IMGUI_USER_CONFIG "my_imgui_config.h"' in your project and then add directives in your own file without touching this template.
+//-----------------------------------------------------------------------------
+// You need to make sure that configuration settings are defined consistently _everywhere_ Dear ImGui is used, which include the imgui*.cpp
+// files but also _any_ of your code that uses Dear ImGui. This is because some compile-time options have an affect on data structures.
 // Defining those options in imconfig.h will ensure every compilation unit gets to see the same data structure layouts.
 // Call IMGUI_CHECKVERSION() from your .cpp files to verify that the data structures your files are using are matching the ones imgui.cpp is using.
 //-----------------------------------------------------------------------------
@@ -14,55 +15,107 @@
 #pragma once
 
 //---- Define assertion handler. Defaults to calling assert().
+// If your macro uses multiple statements, make sure is enclosed in a 'do { .. } while (0)' block so it can be used as a single statement.
 //#define IM_ASSERT(_EXPR)  MyAssert(_EXPR)
 //#define IM_ASSERT(_EXPR)  ((void)(_EXPR))     // Disable asserts
 
-//---- Define attributes of all API symbols declarations, e.g. for DLL under Windows.
+//---- Define attributes of all API symbols declarations, e.g. for DLL under Windows
+// Using Dear ImGui via a shared library is not recommended, because of function call overhead and because we don't guarantee backward nor forward ABI compatibility.
+// DLL users: heaps and globals are not shared across DLL boundaries! You will need to call SetCurrentContext() + SetAllocatorFunctions()
+// for each static/DLL boundary you are calling from. Read "Context and Memory Allocators" section of imgui.cpp for more details.
 //#define IMGUI_API __declspec( dllexport )
 //#define IMGUI_API __declspec( dllimport )
 
-//---- Don't define obsolete functions/enums names. Consider enabling from time to time after updating to avoid using soon-to-be obsolete function/names.
+//---- Don't define obsolete functions/enums/behaviors. Consider enabling from time to time after updating to avoid using soon-to-be obsolete function/names.
 //#define IMGUI_DISABLE_OBSOLETE_FUNCTIONS
+//#define IMGUI_DISABLE_OBSOLETE_KEYIO                      // 1.87: disable legacy io.KeyMap[]+io.KeysDown[] in favor io.AddKeyEvent(). This will be folded into IMGUI_DISABLE_OBSOLETE_FUNCTIONS in a few versions.
 
-//---- Don't implement demo windows functionality (ShowDemoWindow()/ShowStyleEditor()/ShowUserGuide() methods will be empty)
-//---- It is very strongly recommended to NOT disable the demo windows during development. Please read the comments in imgui_demo.cpp.
-//#define IMGUI_DISABLE_DEMO_WINDOWS
+//---- Disable all of Dear ImGui or don't implement standard windows/tools.
+// It is very strongly recommended to NOT disable the demo windows and debug tool during development. They are extremely useful in day to day work. Please read comments in imgui_demo.cpp.
+//#define IMGUI_DISABLE                                     // Disable everything: all headers and source files will be empty.
+//#define IMGUI_DISABLE_DEMO_WINDOWS                        // Disable demo windows: ShowDemoWindow()/ShowStyleEditor() will be empty.
+//#define IMGUI_DISABLE_DEBUG_TOOLS                         // Disable metrics/debugger and other debug tools: ShowMetricsWindow(), ShowDebugLogWindow() and ShowStackToolWindow() will be empty (this was called IMGUI_DISABLE_METRICS_WINDOW before 1.88).
 
 //---- Don't implement some functions to reduce linkage requirements.
-//#define IMGUI_DISABLE_WIN32_DEFAULT_CLIPBOARD_FUNCTIONS   // [Win32] Don't implement default clipboard handler. Won't use and link with OpenClipboard/GetClipboardData/CloseClipboard etc.
-//#define IMGUI_DISABLE_WIN32_DEFAULT_IME_FUNCTIONS         // [Win32] Don't implement default IME handler. Won't use and link with ImmGetContext/ImmSetCompositionWindow.
-//#define IMGUI_DISABLE_FORMAT_STRING_FUNCTIONS             // Don't implement ImFormatString/ImFormatStringV so you can implement them yourself if you don't want to link with vsnprintf.
-//#define IMGUI_DISABLE_MATH_FUNCTIONS                      // Don't implement ImFabs/ImSqrt/ImPow/ImFmod/ImCos/ImSin/ImAcos/ImAtan2 wrapper so you can implement them yourself. Declare your prototypes in imconfig.h.
-//#define IMGUI_DISABLE_DEFAULT_ALLOCATORS                  // Don't implement default allocators calling malloc()/free(). You will need to call ImGui::SetAllocatorFunctions().
+//#define IMGUI_DISABLE_WIN32_DEFAULT_CLIPBOARD_FUNCTIONS   // [Win32] Don't implement default clipboard handler. Won't use and link with OpenClipboard/GetClipboardData/CloseClipboard etc. (user32.lib/.a, kernel32.lib/.a)
+//#define IMGUI_ENABLE_WIN32_DEFAULT_IME_FUNCTIONS          // [Win32] [Default with Visual Studio] Implement default IME handler (require imm32.lib/.a, auto-link for Visual Studio, -limm32 on command-line for MinGW)
+//#define IMGUI_DISABLE_WIN32_DEFAULT_IME_FUNCTIONS         // [Win32] [Default with non-Visual Studio compilers] Don't implement default IME handler (won't require imm32.lib/.a)
+//#define IMGUI_DISABLE_WIN32_FUNCTIONS                     // [Win32] Won't use and link with any Win32 function (clipboard, ime).
+//#define IMGUI_ENABLE_OSX_DEFAULT_CLIPBOARD_FUNCTIONS      // [OSX] Implement default OSX clipboard handler (need to link with '-framework ApplicationServices', this is why this is not the default).
+//#define IMGUI_DISABLE_DEFAULT_FORMAT_FUNCTIONS            // Don't implement ImFormatString/ImFormatStringV so you can implement them yourself (e.g. if you don't want to link with vsnprintf)
+//#define IMGUI_DISABLE_DEFAULT_MATH_FUNCTIONS              // Don't implement ImFabs/ImSqrt/ImPow/ImFmod/ImCos/ImSin/ImAcos/ImAtan2 so you can implement them yourself.
+//#define IMGUI_DISABLE_FILE_FUNCTIONS                      // Don't implement ImFileOpen/ImFileClose/ImFileRead/ImFileWrite and ImFileHandle at all (replace them with dummies)
+//#define IMGUI_DISABLE_DEFAULT_FILE_FUNCTIONS              // Don't implement ImFileOpen/ImFileClose/ImFileRead/ImFileWrite and ImFileHandle so you can implement them yourself if you don't want to link with fopen/fclose/fread/fwrite. This will also disable the LogToTTY() function.
+//#define IMGUI_DISABLE_DEFAULT_ALLOCATORS                  // Don't implement default allocators calling malloc()/free() to avoid linking with them. You will need to call ImGui::SetAllocatorFunctions().
+//#define IMGUI_DISABLE_SSE                                 // Disable use of SSE intrinsics even if available
 
 //---- Include imgui_user.h at the end of imgui.h as a convenience
 //#define IMGUI_INCLUDE_IMGUI_USER_H
 
-//---- Pack colors to BGRA8 instead of RGBA8 (if you needed to convert from one to another anyway)
+//---- Pack colors to BGRA8 instead of RGBA8 (to avoid converting from one to another)
 //#define IMGUI_USE_BGRA_PACKED_COLOR
 
+//---- Use 32-bit for ImWchar (default is 16-bit) to support unicode planes 1-16. (e.g. point beyond 0xFFFF like emoticons, dingbats, symbols, shapes, ancient languages, etc...)
+//#define IMGUI_USE_WCHAR32
+
 //---- Avoid multiple STB libraries implementations, or redefine path/filenames to prioritize another version
-// By default the embedded implementations are declared static and not available outside of imgui cpp files.
+// By default the embedded implementations are declared static and not available outside of Dear ImGui sources files.
 //#define IMGUI_STB_TRUETYPE_FILENAME   "my_folder/stb_truetype.h"
 //#define IMGUI_STB_RECT_PACK_FILENAME  "my_folder/stb_rect_pack.h"
+//#define IMGUI_STB_SPRINTF_FILENAME    "my_folder/stb_sprintf.h"    // only used if enabled
 //#define IMGUI_DISABLE_STB_TRUETYPE_IMPLEMENTATION
 //#define IMGUI_DISABLE_STB_RECT_PACK_IMPLEMENTATION
 
-//---- Define constructor and implicit cast operators to convert back<>forth from your math types and ImVec2/ImVec4.
+//---- Use stb_sprintf.h for a faster implementation of vsnprintf instead of the one from libc (unless IMGUI_DISABLE_DEFAULT_FORMAT_FUNCTIONS is defined)
+// Compatibility checks of arguments and formats done by clang and GCC will be disabled in order to support the extra formats provided by stb_sprintf.h.
+//#define IMGUI_USE_STB_SPRINTF
+
+//---- Use FreeType to build and rasterize the font atlas (instead of stb_truetype which is embedded by default in Dear ImGui)
+// Requires FreeType headers to be available in the include path. Requires program to be compiled with 'misc/freetype/imgui_freetype.cpp' (in this repository) + the FreeType library (not provided).
+// On Windows you may use vcpkg with 'vcpkg install freetype --triplet=x64-windows' + 'vcpkg integrate install'.
+//#define IMGUI_ENABLE_FREETYPE
+
+//---- Use stb_truetype to build and rasterize the font atlas (default)
+// The only purpose of this define is if you want force compilation of the stb_truetype backend ALONG with the FreeType backend.
+//#define IMGUI_ENABLE_STB_TRUETYPE
+
+//---- Define constructor and implicit cast operators to convert back<>forth between your math types and ImVec2/ImVec4.
 // This will be inlined as part of ImVec2 and ImVec4 class declarations.
 /*
-#define IM_VEC2_CLASS_EXTRA                                                 \
-        ImVec2(const MyVec2& f) { x = f.x; y = f.y; }                       \
+#define IM_VEC2_CLASS_EXTRA                                                     \
+        constexpr ImVec2(const MyVec2& f) : x(f.x), y(f.y) {}                   \
         operator MyVec2() const { return MyVec2(x,y); }
 
-#define IM_VEC4_CLASS_EXTRA                                                 \
-        ImVec4(const MyVec4& f) { x = f.x; y = f.y; z = f.z; w = f.w; }     \
+#define IM_VEC4_CLASS_EXTRA                                                     \
+        constexpr ImVec4(const MyVec4& f) : x(f.x), y(f.y), z(f.z), w(f.w) {}   \
         operator MyVec4() const { return MyVec4(x,y,z,w); }
 */
 
-//---- Use 32-bit vertex indices (default is 16-bit) to allow meshes with more than 64K vertices. Render function needs to support it.
+//---- Use 32-bit vertex indices (default is 16-bit) is one way to allow large meshes with more than 64K vertices.
+// Your renderer backend will need to support it (most example renderer backends support both 16/32-bit indices).
+// Another way to allow large meshes while keeping 16-bit indices is to handle ImDrawCmd::VtxOffset in your renderer.
+// Read about ImGuiBackendFlags_RendererHasVtxOffset for details.
 //#define ImDrawIdx unsigned int
 
+//---- Override ImDrawCallback signature (will need to modify renderer backends accordingly)
+//struct ImDrawList;
+//struct ImDrawCmd;
+//typedef void (*MyImDrawCallback)(const ImDrawList* draw_list, const ImDrawCmd* cmd, void* my_renderer_user_data);
+//#define ImDrawCallback MyImDrawCallback
+
+//---- Debug Tools: Macro to break in Debugger
+// (use 'Metrics->Tools->Item Picker' to pick widgets with the mouse and break into them for easy debugging.)
+//#define IM_DEBUG_BREAK  IM_ASSERT(0)
+//#define IM_DEBUG_BREAK  __debugbreak()
+
+//---- Debug Tools: Have the Item Picker break in the ItemAdd() function instead of ItemHoverable(),
+// (which comes earlier in the code, will catch a few extra items, allow picking items other than Hovered one.)
+// This adds a small runtime cost which is why it is not enabled by default.
+//#define IMGUI_DEBUG_TOOL_ITEM_PICKER_EX
+
+//---- Debug Tools: Enable slower asserts
+//#define IMGUI_DEBUG_PARANOID
+
 //---- Tip: You can add extra functions within the ImGui:: namespace, here or in your own headers files.
 /*
 namespace ImGui

lib/imgui/imgui_impl_glfw.cpp

@@ -1,19 +1,44 @@
-// ImGui Platform Binding for: GLFW
-// This needs to be used along with a Renderer (e.g. OpenGL3, Vulkan..)
+// dear imgui: Platform Backend for GLFW
+// This needs to be used along with a Renderer (e.g. OpenGL3, Vulkan, WebGPU..)
 // (Info: GLFW is a cross-platform general purpose library for handling windows, inputs, OpenGL/Vulkan graphics context creation, etc.)
+// (Requires: GLFW 3.1+)
 
 // Implemented features:
 //  [X] Platform: Clipboard support.
-//  [X] Platform: Gamepad navigation mapping. Enable with 'io.ConfigFlags |= ImGuiConfigFlags_NavEnableGamepad'.
-//  [x] Platform: Mouse cursor shape and visibility. Disable with 'io.ConfigFlags |= ImGuiConfigFlags_NoMouseCursorChange'. FIXME: 3 cursors types are missing from GLFW.
+//  [X] Platform: Keyboard support. Since 1.87 we are using the io.AddKeyEvent() function. Pass ImGuiKey values to all key functions e.g. ImGui::IsKeyPressed(ImGuiKey_Space). [Legacy GLFW_KEY_* values will also be supported unless IMGUI_DISABLE_OBSOLETE_KEYIO is set]
+//  [X] Platform: Gamepad support. Enable with 'io.ConfigFlags |= ImGuiConfigFlags_NavEnableGamepad'.
+//  [X] Platform: Mouse cursor shape and visibility. Disable with 'io.ConfigFlags |= ImGuiConfigFlags_NoMouseCursorChange' (note: the resizing cursors requires GLFW 3.4+).
 
-// You can copy and use unmodified imgui_impl_* files in your project. See main.cpp for an example of using this.
-// If you use this binding you'll need to call 4 functions: ImGui_ImplXXXX_Init(), ImGui_ImplXXXX_NewFrame(), ImGui::Render() and ImGui_ImplXXXX_Shutdown().
-// If you are new to ImGui, see examples/README.txt and documentation at the top of imgui.cpp.
-// https://github.com/ocornut/imgui
+// You can use unmodified imgui_impl_* files in your project. See examples/ folder for examples of using this.
+// Prefer including the entire imgui/ repository into your project (either as a copy or as a submodule), and only build the backends you need.
+// If you are new to Dear ImGui, read documentation from the docs/ folder + read the top of imgui.cpp.
+// Read online: https://github.com/ocornut/imgui/tree/master/docs
 
 // CHANGELOG
 // (minor and older changes stripped away, please see git history for details)
+//  2022-04-30: Inputs: Fixed ImGui_ImplGlfw_TranslateUntranslatedKey() for lower case letters on OSX.
+//  2022-03-23: Inputs: Fixed a regression in 1.87 which resulted in keyboard modifiers events being reported incorrectly on Linux/X11.
+//  2022-02-07: Added ImGui_ImplGlfw_InstallCallbacks()/ImGui_ImplGlfw_RestoreCallbacks() helpers to facilitate user installing callbacks after initializing backend.
+//  2022-01-26: Inputs: replaced short-lived io.AddKeyModsEvent() (added two weeks ago)with io.AddKeyEvent() using ImGuiKey_ModXXX flags. Sorry for the confusion.
+//  2021-01-20: Inputs: calling new io.AddKeyAnalogEvent() for gamepad support, instead of writing directly to io.NavInputs[].
+//  2022-01-17: Inputs: calling new io.AddMousePosEvent(), io.AddMouseButtonEvent(), io.AddMouseWheelEvent() API (1.87+).
+//  2022-01-17: Inputs: always update key mods next and before key event (not in NewFrame) to fix input queue with very low framerates.
+//  2022-01-12: *BREAKING CHANGE*: Now using glfwSetCursorPosCallback(). If you called ImGui_ImplGlfw_InitXXX() with install_callbacks = false, you MUST install glfwSetCursorPosCallback() and forward it to the backend via ImGui_ImplGlfw_CursorPosCallback().
+//  2022-01-10: Inputs: calling new io.AddKeyEvent(), io.AddKeyModsEvent() + io.SetKeyEventNativeData() API (1.87+). Support for full ImGuiKey range.
+//  2022-01-05: Inputs: Converting GLFW untranslated keycodes back to translated keycodes (in the ImGui_ImplGlfw_KeyCallback() function) in order to match the behavior of every other backend, and facilitate the use of GLFW with lettered-shortcuts API.
+//  2021-08-17: *BREAKING CHANGE*: Now using glfwSetWindowFocusCallback() to calling io.AddFocusEvent(). If you called ImGui_ImplGlfw_InitXXX() with install_callbacks = false, you MUST install glfwSetWindowFocusCallback() and forward it to the backend via ImGui_ImplGlfw_WindowFocusCallback().
+//  2021-07-29: *BREAKING CHANGE*: Now using glfwSetCursorEnterCallback(). MousePos is correctly reported when the host platform window is hovered but not focused. If you called ImGui_ImplGlfw_InitXXX() with install_callbacks = false, you MUST install glfwSetWindowFocusCallback() callback and forward it to the backend via ImGui_ImplGlfw_CursorEnterCallback().
+//  2021-06-29: Reorganized backend to pull data from a single structure to facilitate usage with multiple-contexts (all g_XXXX access changed to bd->XXXX).
+//  2020-01-17: Inputs: Disable error callback while assigning mouse cursors because some X11 setup don't have them and it generates errors.
+//  2019-12-05: Inputs: Added support for new mouse cursors added in GLFW 3.4+ (resizing cursors, not allowed cursor).
+//  2019-10-18: Misc: Previously installed user callbacks are now restored on shutdown.
+//  2019-07-21: Inputs: Added mapping for ImGuiKey_KeyPadEnter.
+//  2019-05-11: Inputs: Don't filter value from character callback before calling AddInputCharacter().
+//  2019-03-12: Misc: Preserve DisplayFramebufferScale when main window is minimized.
+//  2018-11-30: Misc: Setting up io.BackendPlatformName so it can be displayed in the About Window.
+//  2018-11-07: Inputs: When installing our GLFW callbacks, we save user's previously installed ones - if any - and chain call them.
+//  2018-08-01: Inputs: Workaround for Emscripten which doesn't seem to handle focus related calls.
+//  2018-06-29: Inputs: Added support for the ImGuiMouseCursor_Hand cursor.
 //  2018-06-08: Misc: Extracted imgui_impl_glfw.cpp/.h away from the old combined GLFW+OpenGL/Vulkan examples.
 //  2018-03-20: Misc: Setup io.BackendFlags ImGuiBackendFlags_HasMouseCursors flag + honor ImGuiConfigFlags_NoMouseCursorChange flag.
 //  2018-02-20: Inputs: Added support for mouse cursors (ImGui::GetMouseCursor() value, passed to glfwSetCursor()).
@@ -29,6 +54,16 @@
 #include "imgui.h"
 #include "imgui_impl_glfw.h"
 
+// Clang warnings with -Weverything
+#if defined(__clang__)
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wold-style-cast"     // warning: use of old-style cast
+#pragma clang diagnostic ignored "-Wsign-conversion"    // warning: implicit conversion changes signedness
+#if __has_warning("-Wzero-as-null-pointer-constant")
+#pragma clang diagnostic ignored "-Wzero-as-null-pointer-constant"
+#endif
+#endif
+
 // GLFW
 #include <GLFW/glfw3.h>
 #ifdef _WIN32
@@ -36,26 +71,58 @@
 #define GLFW_EXPOSE_NATIVE_WIN32
 #include <GLFW/glfw3native.h>   // for glfwGetWin32Window
 #endif
-#define GLFW_HAS_WINDOW_TOPMOST     (GLFW_VERSION_MAJOR * 1000 + GLFW_VERSION_MINOR * 100 >= 3200) // 3.2+ GLFW_FLOATING
-#define GLFW_HAS_WINDOW_HOVERED     (GLFW_VERSION_MAJOR * 1000 + GLFW_VERSION_MINOR * 100 >= 3300) // 3.3+ GLFW_HOVERED
-#define GLFW_HAS_WINDOW_ALPHA       (GLFW_VERSION_MAJOR * 1000 + GLFW_VERSION_MINOR * 100 >= 3300) // 3.3+ glfwSetWindowOpacity
-#define GLFW_HAS_PER_MONITOR_DPI    (GLFW_VERSION_MAJOR * 1000 + GLFW_VERSION_MINOR * 100 >= 3300) // 3.3+ glfwGetMonitorContentScale
-#define GLFW_HAS_VULKAN             (GLFW_VERSION_MAJOR * 1000 + GLFW_VERSION_MINOR * 100 >= 3200) // 3.2+ glfwCreateWindowSurface
+#ifdef GLFW_RESIZE_NESW_CURSOR        // Let's be nice to people who pulled GLFW between 2019-04-16 (3.4 define) and 2019-11-29 (cursors defines) // FIXME: Remove when GLFW 3.4 is released?
+#define GLFW_HAS_NEW_CURSORS          (GLFW_VERSION_MAJOR * 1000 + GLFW_VERSION_MINOR * 100 >= 3400) // 3.4+ GLFW_RESIZE_ALL_CURSOR, GLFW_RESIZE_NESW_CURSOR, GLFW_RESIZE_NWSE_CURSOR, GLFW_NOT_ALLOWED_CURSOR
+#else
+#define GLFW_HAS_NEW_CURSORS          (0)
+#endif
+#define GLFW_HAS_GAMEPAD_API          (GLFW_VERSION_MAJOR * 1000 + GLFW_VERSION_MINOR * 100 >= 3300) // 3.3+ glfwGetGamepadState() new api
+#define GLFW_HAS_GET_KEY_NAME         (GLFW_VERSION_MAJOR * 1000 + GLFW_VERSION_MINOR * 100 >= 3200) // 3.2+ glfwGetKeyName()
 
-// Data
+// GLFW data
 enum GlfwClientApi
 {
     GlfwClientApi_Unknown,
     GlfwClientApi_OpenGL,
     GlfwClientApi_Vulkan
 };
-static GLFWwindow*      g_Window = NULL;
-static GlfwClientApi    g_ClientApi = GlfwClientApi_Unknown;
-static double           g_Time = 0.0;
-static bool             g_MouseJustPressed[5] = { false, false, false, false, false };
-static GLFWcursor*      g_MouseCursors[ImGuiMouseCursor_COUNT] = { 0 };
-static bool             g_EnableMouseInput = true;
 
+struct ImGui_ImplGlfw_Data
+{
+    GLFWwindow*             Window;
+    GlfwClientApi           ClientApi;
+    double                  Time;
+    GLFWwindow*             MouseWindow;
+    GLFWcursor*             MouseCursors[ImGuiMouseCursor_COUNT];
+    ImVec2                  LastValidMousePos;
+    bool                    InstalledCallbacks;
+
+    // Chain GLFW callbacks: our callbacks will call the user's previously installed callbacks, if any.
+    GLFWwindowfocusfun      PrevUserCallbackWindowFocus;
+    GLFWcursorposfun        PrevUserCallbackCursorPos;
+    GLFWcursorenterfun      PrevUserCallbackCursorEnter;
+    GLFWmousebuttonfun      PrevUserCallbackMousebutton;
+    GLFWscrollfun           PrevUserCallbackScroll;
+    GLFWkeyfun              PrevUserCallbackKey;
+    GLFWcharfun             PrevUserCallbackChar;
+    GLFWmonitorfun          PrevUserCallbackMonitor;
+
+    ImGui_ImplGlfw_Data()   { memset((void*)this, 0, sizeof(*this)); }
+};
+
+// Backend data stored in io.BackendPlatformUserData to allow support for multiple Dear ImGui contexts
+// It is STRONGLY preferred that you use docking branch with multi-viewports (== single Dear ImGui context + multiple windows) instead of multiple Dear ImGui contexts.
+// FIXME: multi-context support is not well tested and probably dysfunctional in this backend.
+// - Because glfwPollEvents() process all windows and some events may be called outside of it, you will need to register your own callbacks
+//   (passing install_callbacks=false in ImGui_ImplGlfw_InitXXX functions), set the current dear imgui context and then call our callbacks.
+// - Otherwise we may need to store a GLFWWindow* -> ImGuiContext* map and handle this in the backend, adding a little bit of extra complexity to it.
+// FIXME: some shared resources (mouse cursor shape, gamepad) are mishandled when using multi-context.
+static ImGui_ImplGlfw_Data* ImGui_ImplGlfw_GetBackendData()
+{
+    return ImGui::GetCurrentContext() ? (ImGui_ImplGlfw_Data*)ImGui::GetIO().BackendPlatformUserData : NULL;
+}
+
+// Functions
 static const char* ImGui_ImplGlfw_GetClipboardText(void* user_data)
 {
     return glfwGetClipboardString((GLFWwindow*)user_data);
@@ -66,106 +133,366 @@ static void ImGui_ImplGlfw_SetClipboardText(void* user_data, const char* text)
     glfwSetClipboardString((GLFWwindow*)user_data, text);
 }
 
-void ImGui_ImplGlfw_MouseButtonCallback(GLFWwindow*, int button, int action, int /*mods*/)
+static ImGuiKey ImGui_ImplGlfw_KeyToImGuiKey(int key)
 {
-    if (action == GLFW_PRESS && button >= 0 && button < IM_ARRAYSIZE(g_MouseJustPressed))
-        g_MouseJustPressed[button] = true;
+    switch (key)
+    {
+        case GLFW_KEY_TAB: return ImGuiKey_Tab;
+        case GLFW_KEY_LEFT: return ImGuiKey_LeftArrow;
+        case GLFW_KEY_RIGHT: return ImGuiKey_RightArrow;
+        case GLFW_KEY_UP: return ImGuiKey_UpArrow;
+        case GLFW_KEY_DOWN: return ImGuiKey_DownArrow;
+        case GLFW_KEY_PAGE_UP: return ImGuiKey_PageUp;
+        case GLFW_KEY_PAGE_DOWN: return ImGuiKey_PageDown;
+        case GLFW_KEY_HOME: return ImGuiKey_Home;
+        case GLFW_KEY_END: return ImGuiKey_End;
+        case GLFW_KEY_INSERT: return ImGuiKey_Insert;
+        case GLFW_KEY_DELETE: return ImGuiKey_Delete;
+        case GLFW_KEY_BACKSPACE: return ImGuiKey_Backspace;
+        case GLFW_KEY_SPACE: return ImGuiKey_Space;
+        case GLFW_KEY_ENTER: return ImGuiKey_Enter;
+        case GLFW_KEY_ESCAPE: return ImGuiKey_Escape;
+        case GLFW_KEY_APOSTROPHE: return ImGuiKey_Apostrophe;
+        case GLFW_KEY_COMMA: return ImGuiKey_Comma;
+        case GLFW_KEY_MINUS: return ImGuiKey_Minus;
+        case GLFW_KEY_PERIOD: return ImGuiKey_Period;
+        case GLFW_KEY_SLASH: return ImGuiKey_Slash;
+        case GLFW_KEY_SEMICOLON: return ImGuiKey_Semicolon;
+        case GLFW_KEY_EQUAL: return ImGuiKey_Equal;
+        case GLFW_KEY_LEFT_BRACKET: return ImGuiKey_LeftBracket;
+        case GLFW_KEY_BACKSLASH: return ImGuiKey_Backslash;
+        case GLFW_KEY_RIGHT_BRACKET: return ImGuiKey_RightBracket;
+        case GLFW_KEY_GRAVE_ACCENT: return ImGuiKey_GraveAccent;
+        case GLFW_KEY_CAPS_LOCK: return ImGuiKey_CapsLock;
+        case GLFW_KEY_SCROLL_LOCK: return ImGuiKey_ScrollLock;
+        case GLFW_KEY_NUM_LOCK: return ImGuiKey_NumLock;
+        case GLFW_KEY_PRINT_SCREEN: return ImGuiKey_PrintScreen;
+        case GLFW_KEY_PAUSE: return ImGuiKey_Pause;
+        case GLFW_KEY_KP_0: return ImGuiKey_Keypad0;
+        case GLFW_KEY_KP_1: return ImGuiKey_Keypad1;
+        case GLFW_KEY_KP_2: return ImGuiKey_Keypad2;
+        case GLFW_KEY_KP_3: return ImGuiKey_Keypad3;
+        case GLFW_KEY_KP_4: return ImGuiKey_Keypad4;
+        case GLFW_KEY_KP_5: return ImGuiKey_Keypad5;
+        case GLFW_KEY_KP_6: return ImGuiKey_Keypad6;
+        case GLFW_KEY_KP_7: return ImGuiKey_Keypad7;
+        case GLFW_KEY_KP_8: return ImGuiKey_Keypad8;
+        case GLFW_KEY_KP_9: return ImGuiKey_Keypad9;
+        case GLFW_KEY_KP_DECIMAL: return ImGuiKey_KeypadDecimal;
+        case GLFW_KEY_KP_DIVIDE: return ImGuiKey_KeypadDivide;
+        case GLFW_KEY_KP_MULTIPLY: return ImGuiKey_KeypadMultiply;
+        case GLFW_KEY_KP_SUBTRACT: return ImGuiKey_KeypadSubtract;
+        case GLFW_KEY_KP_ADD: return ImGuiKey_KeypadAdd;
+        case GLFW_KEY_KP_ENTER: return ImGuiKey_KeypadEnter;
+        case GLFW_KEY_KP_EQUAL: return ImGuiKey_KeypadEqual;
+        case GLFW_KEY_LEFT_SHIFT: return ImGuiKey_LeftShift;
+        case GLFW_KEY_LEFT_CONTROL: return ImGuiKey_LeftCtrl;
+        case GLFW_KEY_LEFT_ALT: return ImGuiKey_LeftAlt;
+        case GLFW_KEY_LEFT_SUPER: return ImGuiKey_LeftSuper;
+        case GLFW_KEY_RIGHT_SHIFT: return ImGuiKey_RightShift;
+        case GLFW_KEY_RIGHT_CONTROL: return ImGuiKey_RightCtrl;
+        case GLFW_KEY_RIGHT_ALT: return ImGuiKey_RightAlt;
+        case GLFW_KEY_RIGHT_SUPER: return ImGuiKey_RightSuper;
+        case GLFW_KEY_MENU: return ImGuiKey_Menu;
+        case GLFW_KEY_0: return ImGuiKey_0;
+        case GLFW_KEY_1: return ImGuiKey_1;
+        case GLFW_KEY_2: return ImGuiKey_2;
+        case GLFW_KEY_3: return ImGuiKey_3;
+        case GLFW_KEY_4: return ImGuiKey_4;
+        case GLFW_KEY_5: return ImGuiKey_5;
+        case GLFW_KEY_6: return ImGuiKey_6;
+        case GLFW_KEY_7: return ImGuiKey_7;
+        case GLFW_KEY_8: return ImGuiKey_8;
+        case GLFW_KEY_9: return ImGuiKey_9;
+        case GLFW_KEY_A: return ImGuiKey_A;
+        case GLFW_KEY_B: return ImGuiKey_B;
+        case GLFW_KEY_C: return ImGuiKey_C;
+        case GLFW_KEY_D: return ImGuiKey_D;
+        case GLFW_KEY_E: return ImGuiKey_E;
+        case GLFW_KEY_F: return ImGuiKey_F;
+        case GLFW_KEY_G: return ImGuiKey_G;
+        case GLFW_KEY_H: return ImGuiKey_H;
+        case GLFW_KEY_I: return ImGuiKey_I;
+        case GLFW_KEY_J: return ImGuiKey_J;
+        case GLFW_KEY_K: return ImGuiKey_K;
+        case GLFW_KEY_L: return ImGuiKey_L;
+        case GLFW_KEY_M: return ImGuiKey_M;
+        case GLFW_KEY_N: return ImGuiKey_N;
+        case GLFW_KEY_O: return ImGuiKey_O;
+        case GLFW_KEY_P: return ImGuiKey_P;
+        case GLFW_KEY_Q: return ImGuiKey_Q;
+        case GLFW_KEY_R: return ImGuiKey_R;
+        case GLFW_KEY_S: return ImGuiKey_S;
+        case GLFW_KEY_T: return ImGuiKey_T;
+        case GLFW_KEY_U: return ImGuiKey_U;
+        case GLFW_KEY_V: return ImGuiKey_V;
+        case GLFW_KEY_W: return ImGuiKey_W;
+        case GLFW_KEY_X: return ImGuiKey_X;
+        case GLFW_KEY_Y: return ImGuiKey_Y;
+        case GLFW_KEY_Z: return ImGuiKey_Z;
+        case GLFW_KEY_F1: return ImGuiKey_F1;
+        case GLFW_KEY_F2: return ImGuiKey_F2;
+        case GLFW_KEY_F3: return ImGuiKey_F3;
+        case GLFW_KEY_F4: return ImGuiKey_F4;
+        case GLFW_KEY_F5: return ImGuiKey_F5;
+        case GLFW_KEY_F6: return ImGuiKey_F6;
+        case GLFW_KEY_F7: return ImGuiKey_F7;
+        case GLFW_KEY_F8: return ImGuiKey_F8;
+        case GLFW_KEY_F9: return ImGuiKey_F9;
+        case GLFW_KEY_F10: return ImGuiKey_F10;
+        case GLFW_KEY_F11: return ImGuiKey_F11;
+        case GLFW_KEY_F12: return ImGuiKey_F12;
+        default: return ImGuiKey_None;
+    }
 }
 
-void ImGui_ImplGlfw_ScrollCallback(GLFWwindow*, double xoffset, double yoffset)
+static int ImGui_ImplGlfw_KeyToModifier(int key)
 {
-    ImGuiIO& io = ImGui::GetIO();
-    io.MouseWheelH += (float)xoffset;
-    io.MouseWheel += (float)yoffset;
+    if (key == GLFW_KEY_LEFT_CONTROL || key == GLFW_KEY_RIGHT_CONTROL)
+        return GLFW_MOD_CONTROL;
+    if (key == GLFW_KEY_LEFT_SHIFT || key == GLFW_KEY_RIGHT_SHIFT)
+        return GLFW_MOD_SHIFT;
+    if (key == GLFW_KEY_LEFT_ALT || key == GLFW_KEY_RIGHT_ALT)
+        return GLFW_MOD_ALT;
+    if (key == GLFW_KEY_LEFT_SUPER || key == GLFW_KEY_RIGHT_SUPER)
+        return GLFW_MOD_SUPER;
+    return 0;
 }
 
-void ImGui_ImplGlfw_KeyCallback(GLFWwindow*, int key, int, int action, int mods)
+static void ImGui_ImplGlfw_UpdateKeyModifiers(int mods)
 {
     ImGuiIO& io = ImGui::GetIO();
-    if (action == GLFW_PRESS)
-        io.KeysDown[key] = true;
-    if (action == GLFW_RELEASE)
-        io.KeysDown[key] = false;
-
-    (void)mods; // Modifiers are not reliable across systems
-    io.KeyCtrl = io.KeysDown[GLFW_KEY_LEFT_CONTROL] || io.KeysDown[GLFW_KEY_RIGHT_CONTROL];
-    io.KeyShift = io.KeysDown[GLFW_KEY_LEFT_SHIFT] || io.KeysDown[GLFW_KEY_RIGHT_SHIFT];
-    io.KeyAlt = io.KeysDown[GLFW_KEY_LEFT_ALT] || io.KeysDown[GLFW_KEY_RIGHT_ALT];
-    io.KeySuper = io.KeysDown[GLFW_KEY_LEFT_SUPER] || io.KeysDown[GLFW_KEY_RIGHT_SUPER];
+    io.AddKeyEvent(ImGuiKey_ModCtrl, (mods & GLFW_MOD_CONTROL) != 0);
+    io.AddKeyEvent(ImGuiKey_ModShift, (mods & GLFW_MOD_SHIFT) != 0);
+    io.AddKeyEvent(ImGuiKey_ModAlt, (mods & GLFW_MOD_ALT) != 0);
+    io.AddKeyEvent(ImGuiKey_ModSuper, (mods & GLFW_MOD_SUPER) != 0);
 }
 
-void ImGui_ImplGlfw_CharCallback(GLFWwindow*, unsigned int c)
+void ImGui_ImplGlfw_MouseButtonCallback(GLFWwindow* window, int button, int action, int mods)
 {
+    ImGui_ImplGlfw_Data* bd = ImGui_ImplGlfw_GetBackendData();
+    if (bd->PrevUserCallbackMousebutton != NULL && window == bd->Window)
+        bd->PrevUserCallbackMousebutton(window, button, action, mods);
+
+    ImGui_ImplGlfw_UpdateKeyModifiers(mods);
+
     ImGuiIO& io = ImGui::GetIO();
-    if (c > 0 && c < 0x10000)
-        io.AddInputCharacter((unsigned short)c);
+    if (button >= 0 && button < ImGuiMouseButton_COUNT)
+        io.AddMouseButtonEvent(button, action == GLFW_PRESS);
+}
+
+void ImGui_ImplGlfw_ScrollCallback(GLFWwindow* window, double xoffset, double yoffset)
+{
+    ImGui_ImplGlfw_Data* bd = ImGui_ImplGlfw_GetBackendData();
+    if (bd->PrevUserCallbackScroll != NULL && window == bd->Window)
+        bd->PrevUserCallbackScroll(window, xoffset, yoffset);
+
+    ImGuiIO& io = ImGui::GetIO();
+    io.AddMouseWheelEvent((float)xoffset, (float)yoffset);
+}
+
+static int ImGui_ImplGlfw_TranslateUntranslatedKey(int key, int scancode)
+{
+#if GLFW_HAS_GET_KEY_NAME && !defined(__EMSCRIPTEN__)
+    // GLFW 3.1+ attempts to "untranslate" keys, which goes the opposite of what every other framework does, making using lettered shortcuts difficult.
+    // (It had reasons to do so: namely GLFW is/was more likely to be used for WASD-type game controls rather than lettered shortcuts, but IHMO the 3.1 change could have been done differently)
+    // See https://github.com/glfw/glfw/issues/1502 for details.
+    // Adding a workaround to undo this (so our keys are translated->untranslated->translated, likely a lossy process).
+    // This won't cover edge cases but this is at least going to cover common cases.
+    if (key >= GLFW_KEY_KP_0 && key <= GLFW_KEY_KP_EQUAL)
+        return key;
+    const char* key_name = glfwGetKeyName(key, scancode);
+    if (key_name && key_name[0] != 0 && key_name[1] == 0)
+    {
+        const char char_names[] = "`-=[]\\,;\'./";
+        const int char_keys[] = { GLFW_KEY_GRAVE_ACCENT, GLFW_KEY_MINUS, GLFW_KEY_EQUAL, GLFW_KEY_LEFT_BRACKET, GLFW_KEY_RIGHT_BRACKET, GLFW_KEY_BACKSLASH, GLFW_KEY_COMMA, GLFW_KEY_SEMICOLON, GLFW_KEY_APOSTROPHE, GLFW_KEY_PERIOD, GLFW_KEY_SLASH, 0 };
+        IM_ASSERT(IM_ARRAYSIZE(char_names) == IM_ARRAYSIZE(char_keys));
+        if (key_name[0] >= '0' && key_name[0] <= '9')               { key = GLFW_KEY_0 + (key_name[0] - '0'); }
+        else if (key_name[0] >= 'A' && key_name[0] <= 'Z')          { key = GLFW_KEY_A + (key_name[0] - 'A'); }
+        else if (key_name[0] >= 'a' && key_name[0] <= 'z')          { key = GLFW_KEY_A + (key_name[0] - 'a'); }
+        else if (const char* p = strchr(char_names, key_name[0]))   { key = char_keys[p - char_names]; }
+    }
+    // if (action == GLFW_PRESS) printf("key %d scancode %d name '%s'\n", key, scancode, key_name);
+#else
+    IM_UNUSED(scancode);
+#endif
+    return key;
+}
+
+void ImGui_ImplGlfw_KeyCallback(GLFWwindow* window, int keycode, int scancode, int action, int mods)
+{
+    ImGui_ImplGlfw_Data* bd = ImGui_ImplGlfw_GetBackendData();
+    if (bd->PrevUserCallbackKey != NULL && window == bd->Window)
+        bd->PrevUserCallbackKey(window, keycode, scancode, action, mods);
+
+    if (action != GLFW_PRESS && action != GLFW_RELEASE)
+        return;
+
+    // Workaround: X11 does not include current pressed/released modifier key in 'mods' flags. https://github.com/glfw/glfw/issues/1630
+    if (int keycode_to_mod = ImGui_ImplGlfw_KeyToModifier(keycode))
+        mods = (action == GLFW_PRESS) ? (mods | keycode_to_mod) : (mods & ~keycode_to_mod);
+    ImGui_ImplGlfw_UpdateKeyModifiers(mods);
+
+    keycode = ImGui_ImplGlfw_TranslateUntranslatedKey(keycode, scancode);
+
+    ImGuiIO& io = ImGui::GetIO();
+    ImGuiKey imgui_key = ImGui_ImplGlfw_KeyToImGuiKey(keycode);
+    io.AddKeyEvent(imgui_key, (action == GLFW_PRESS));
+    io.SetKeyEventNativeData(imgui_key, keycode, scancode); // To support legacy indexing (<1.87 user code)
+}
+
+void ImGui_ImplGlfw_WindowFocusCallback(GLFWwindow* window, int focused)
+{
+    ImGui_ImplGlfw_Data* bd = ImGui_ImplGlfw_GetBackendData();
+    if (bd->PrevUserCallbackWindowFocus != NULL && window == bd->Window)
+        bd->PrevUserCallbackWindowFocus(window, focused);
+
+    ImGuiIO& io = ImGui::GetIO();
+    io.AddFocusEvent(focused != 0);
+}
+
+void ImGui_ImplGlfw_CursorPosCallback(GLFWwindow* window, double x, double y)
+{
+    ImGui_ImplGlfw_Data* bd = ImGui_ImplGlfw_GetBackendData();
+    if (bd->PrevUserCallbackCursorPos != NULL && window == bd->Window)
+        bd->PrevUserCallbackCursorPos(window, x, y);
+
+    ImGuiIO& io = ImGui::GetIO();
+    io.AddMousePosEvent((float)x, (float)y);
+    bd->LastValidMousePos = ImVec2((float)x, (float)y);
+}
+
+// Workaround: X11 seems to send spurious Leave/Enter events which would make us lose our position,
+// so we back it up and restore on Leave/Enter (see https://github.com/ocornut/imgui/issues/4984)
+void ImGui_ImplGlfw_CursorEnterCallback(GLFWwindow* window, int entered)
+{
+    ImGui_ImplGlfw_Data* bd = ImGui_ImplGlfw_GetBackendData();
+    if (bd->PrevUserCallbackCursorEnter != NULL && window == bd->Window)
+        bd->PrevUserCallbackCursorEnter(window, entered);
+
+    ImGuiIO& io = ImGui::GetIO();
+    if (entered)
+    {
+        bd->MouseWindow = window;
+        io.AddMousePosEvent(bd->LastValidMousePos.x, bd->LastValidMousePos.y);
+    }
+    else if (!entered && bd->MouseWindow == window)
+    {
+        bd->LastValidMousePos = io.MousePos;
+        bd->MouseWindow = NULL;
+        io.AddMousePosEvent(-FLT_MAX, -FLT_MAX);
+    }
+}
+
+void ImGui_ImplGlfw_CharCallback(GLFWwindow* window, unsigned int c)
+{
+    ImGui_ImplGlfw_Data* bd = ImGui_ImplGlfw_GetBackendData();
+    if (bd->PrevUserCallbackChar != NULL && window == bd->Window)
+        bd->PrevUserCallbackChar(window, c);
+
+    ImGuiIO& io = ImGui::GetIO();
+    io.AddInputCharacter(c);
+}
+
+void ImGui_ImplGlfw_MonitorCallback(GLFWmonitor*, int)
+{
+	// Unused in 'master' branch but 'docking' branch will use this, so we declare it ahead of it so if you have to install callbacks you can install this one too.
 }
 
 void ImGui_ImplGlfw_InstallCallbacks(GLFWwindow* window)
 {
-    glfwSetMouseButtonCallback(window, ImGui_ImplGlfw_MouseButtonCallback);
-    glfwSetScrollCallback(window, ImGui_ImplGlfw_ScrollCallback);
-    glfwSetKeyCallback(window, ImGui_ImplGlfw_KeyCallback);
-    glfwSetCharCallback(window, ImGui_ImplGlfw_CharCallback);
+    ImGui_ImplGlfw_Data* bd = ImGui_ImplGlfw_GetBackendData();
+    IM_ASSERT(bd->InstalledCallbacks == false && "Callbacks already installed!");
+    IM_ASSERT(bd->Window == window);
+
+    bd->PrevUserCallbackWindowFocus = glfwSetWindowFocusCallback(window, ImGui_ImplGlfw_WindowFocusCallback);
+    bd->PrevUserCallbackCursorEnter = glfwSetCursorEnterCallback(window, ImGui_ImplGlfw_CursorEnterCallback);
+    bd->PrevUserCallbackCursorPos = glfwSetCursorPosCallback(window, ImGui_ImplGlfw_CursorPosCallback);
+    bd->PrevUserCallbackMousebutton = glfwSetMouseButtonCallback(window, ImGui_ImplGlfw_MouseButtonCallback);
+    bd->PrevUserCallbackScroll = glfwSetScrollCallback(window, ImGui_ImplGlfw_ScrollCallback);
+    bd->PrevUserCallbackKey = glfwSetKeyCallback(window, ImGui_ImplGlfw_KeyCallback);
+    bd->PrevUserCallbackChar = glfwSetCharCallback(window, ImGui_ImplGlfw_CharCallback);
+    bd->PrevUserCallbackMonitor = glfwSetMonitorCallback(ImGui_ImplGlfw_MonitorCallback);
+    bd->InstalledCallbacks = true;
 }
 
-void ImGui_ImplGlfw_SetReadMouseFromGlfw(bool enabled)
+void ImGui_ImplGlfw_RestoreCallbacks(GLFWwindow* window)
 {
-	g_EnableMouseInput = enabled;
+    ImGui_ImplGlfw_Data* bd = ImGui_ImplGlfw_GetBackendData();
+    IM_ASSERT(bd->InstalledCallbacks == true && "Callbacks not installed!");
+    IM_ASSERT(bd->Window == window);
+
+    glfwSetWindowFocusCallback(window, bd->PrevUserCallbackWindowFocus);
+    glfwSetCursorEnterCallback(window, bd->PrevUserCallbackCursorEnter);
+    glfwSetCursorPosCallback(window, bd->PrevUserCallbackCursorPos);
+    glfwSetMouseButtonCallback(window, bd->PrevUserCallbackMousebutton);
+    glfwSetScrollCallback(window, bd->PrevUserCallbackScroll);
+    glfwSetKeyCallback(window, bd->PrevUserCallbackKey);
+    glfwSetCharCallback(window, bd->PrevUserCallbackChar);
+    glfwSetMonitorCallback(bd->PrevUserCallbackMonitor);
+    bd->InstalledCallbacks = false;
+    bd->PrevUserCallbackWindowFocus = NULL;
+    bd->PrevUserCallbackCursorEnter = NULL;
+    bd->PrevUserCallbackCursorPos = NULL;
+    bd->PrevUserCallbackMousebutton = NULL;
+    bd->PrevUserCallbackScroll = NULL;
+    bd->PrevUserCallbackKey = NULL;
+    bd->PrevUserCallbackChar = NULL;
+    bd->PrevUserCallbackMonitor = NULL;
 }
 
 static bool ImGui_ImplGlfw_Init(GLFWwindow* window, bool install_callbacks, GlfwClientApi client_api)
 {
-    g_Window = window;
-    g_Time = 0.0;
-
-    // Setup back-end capabilities flags
     ImGuiIO& io = ImGui::GetIO();
+    IM_ASSERT(io.BackendPlatformUserData == NULL && "Already initialized a platform backend!");
+
+    // Setup backend capabilities flags
+    ImGui_ImplGlfw_Data* bd = IM_NEW(ImGui_ImplGlfw_Data)();
+    io.BackendPlatformUserData = (void*)bd;
+    io.BackendPlatformName = "imgui_impl_glfw";
     io.BackendFlags |= ImGuiBackendFlags_HasMouseCursors;         // We can honor GetMouseCursor() values (optional)
     io.BackendFlags |= ImGuiBackendFlags_HasSetMousePos;          // We can honor io.WantSetMousePos requests (optional, rarely used)
 
-    // Keyboard mapping. ImGui will use those indices to peek into the io.KeysDown[] array.
-    io.KeyMap[ImGuiKey_Tab] = GLFW_KEY_TAB;
-    io.KeyMap[ImGuiKey_LeftArrow] = GLFW_KEY_LEFT;
-    io.KeyMap[ImGuiKey_RightArrow] = GLFW_KEY_RIGHT;
-    io.KeyMap[ImGuiKey_UpArrow] = GLFW_KEY_UP;
-    io.KeyMap[ImGuiKey_DownArrow] = GLFW_KEY_DOWN;
-    io.KeyMap[ImGuiKey_PageUp] = GLFW_KEY_PAGE_UP;
-    io.KeyMap[ImGuiKey_PageDown] = GLFW_KEY_PAGE_DOWN;
-    io.KeyMap[ImGuiKey_Home] = GLFW_KEY_HOME;
-    io.KeyMap[ImGuiKey_End] = GLFW_KEY_END;
-    io.KeyMap[ImGuiKey_Insert] = GLFW_KEY_INSERT;
-    io.KeyMap[ImGuiKey_Delete] = GLFW_KEY_DELETE;
-    io.KeyMap[ImGuiKey_Backspace] = GLFW_KEY_BACKSPACE;
-    io.KeyMap[ImGuiKey_Space] = GLFW_KEY_SPACE;
-    io.KeyMap[ImGuiKey_Enter] = GLFW_KEY_ENTER;
-    io.KeyMap[ImGuiKey_Escape] = GLFW_KEY_ESCAPE;
-    io.KeyMap[ImGuiKey_A] = GLFW_KEY_A;
-    io.KeyMap[ImGuiKey_C] = GLFW_KEY_C;
-    io.KeyMap[ImGuiKey_V] = GLFW_KEY_V;
-    io.KeyMap[ImGuiKey_X] = GLFW_KEY_X;
-    io.KeyMap[ImGuiKey_Y] = GLFW_KEY_Y;
-    io.KeyMap[ImGuiKey_Z] = GLFW_KEY_Z;
+    bd->Window = window;
+    bd->Time = 0.0;
 
     io.SetClipboardTextFn = ImGui_ImplGlfw_SetClipboardText;
     io.GetClipboardTextFn = ImGui_ImplGlfw_GetClipboardText;
-    io.ClipboardUserData = g_Window;
+    io.ClipboardUserData = bd->Window;
+
+    // Set platform dependent data in viewport
 #if defined(_WIN32)
-    io.ImeWindowHandle = (void*)glfwGetWin32Window(g_Window);
+    ImGui::GetMainViewport()->PlatformHandleRaw = (void*)glfwGetWin32Window(bd->Window);
 #endif
 
-    g_MouseCursors[ImGuiMouseCursor_Arrow] = glfwCreateStandardCursor(GLFW_ARROW_CURSOR);
-    g_MouseCursors[ImGuiMouseCursor_TextInput] = glfwCreateStandardCursor(GLFW_IBEAM_CURSOR);
-    g_MouseCursors[ImGuiMouseCursor_ResizeAll] = glfwCreateStandardCursor(GLFW_ARROW_CURSOR);   // FIXME: GLFW doesn't have this.
-    g_MouseCursors[ImGuiMouseCursor_ResizeNS] = glfwCreateStandardCursor(GLFW_VRESIZE_CURSOR);
-    g_MouseCursors[ImGuiMouseCursor_ResizeEW] = glfwCreateStandardCursor(GLFW_HRESIZE_CURSOR);
-    g_MouseCursors[ImGuiMouseCursor_ResizeNESW] = glfwCreateStandardCursor(GLFW_ARROW_CURSOR);  // FIXME: GLFW doesn't have this.
-    g_MouseCursors[ImGuiMouseCursor_ResizeNWSE] = glfwCreateStandardCursor(GLFW_ARROW_CURSOR);  // FIXME: GLFW doesn't have this.
+    // Create mouse cursors
+    // (By design, on X11 cursors are user configurable and some cursors may be missing. When a cursor doesn't exist,
+    // GLFW will emit an error which will often be printed by the app, so we temporarily disable error reporting.
+    // Missing cursors will return NULL and our _UpdateMouseCursor() function will use the Arrow cursor instead.)
+    GLFWerrorfun prev_error_callback = glfwSetErrorCallback(NULL);
+    bd->MouseCursors[ImGuiMouseCursor_Arrow] = glfwCreateStandardCursor(GLFW_ARROW_CURSOR);
+    bd->MouseCursors[ImGuiMouseCursor_TextInput] = glfwCreateStandardCursor(GLFW_IBEAM_CURSOR);
+    bd->MouseCursors[ImGuiMouseCursor_ResizeNS] = glfwCreateStandardCursor(GLFW_VRESIZE_CURSOR);
+    bd->MouseCursors[ImGuiMouseCursor_ResizeEW] = glfwCreateStandardCursor(GLFW_HRESIZE_CURSOR);
+    bd->MouseCursors[ImGuiMouseCursor_Hand] = glfwCreateStandardCursor(GLFW_HAND_CURSOR);
+#if GLFW_HAS_NEW_CURSORS
+    bd->MouseCursors[ImGuiMouseCursor_ResizeAll] = glfwCreateStandardCursor(GLFW_RESIZE_ALL_CURSOR);
+    bd->MouseCursors[ImGuiMouseCursor_ResizeNESW] = glfwCreateStandardCursor(GLFW_RESIZE_NESW_CURSOR);
+    bd->MouseCursors[ImGuiMouseCursor_ResizeNWSE] = glfwCreateStandardCursor(GLFW_RESIZE_NWSE_CURSOR);
+    bd->MouseCursors[ImGuiMouseCursor_NotAllowed] = glfwCreateStandardCursor(GLFW_NOT_ALLOWED_CURSOR);
+#else
+    bd->MouseCursors[ImGuiMouseCursor_ResizeAll] = glfwCreateStandardCursor(GLFW_ARROW_CURSOR);
+    bd->MouseCursors[ImGuiMouseCursor_ResizeNESW] = glfwCreateStandardCursor(GLFW_ARROW_CURSOR);
+    bd->MouseCursors[ImGuiMouseCursor_ResizeNWSE] = glfwCreateStandardCursor(GLFW_ARROW_CURSOR);
+    bd->MouseCursors[ImGuiMouseCursor_NotAllowed] = glfwCreateStandardCursor(GLFW_ARROW_CURSOR);
+#endif
+    glfwSetErrorCallback(prev_error_callback);
 
+    // Chain GLFW callbacks: our callbacks will call the user's previously installed callbacks, if any.
     if (install_callbacks)
         ImGui_ImplGlfw_InstallCallbacks(window);
 
-    g_ClientApi = client_api;
+    bd->ClientApi = client_api;
     return true;
 }
 
@@ -179,123 +506,159 @@ bool ImGui_ImplGlfw_InitForVulkan(GLFWwindow* window, bool install_callbacks)
     return ImGui_ImplGlfw_Init(window, install_callbacks, GlfwClientApi_Vulkan);
 }
 
-void ImGui_ImplGlfw_Shutdown()
+bool ImGui_ImplGlfw_InitForOther(GLFWwindow* window, bool install_callbacks)
 {
-    for (ImGuiMouseCursor cursor_n = 0; cursor_n < ImGuiMouseCursor_COUNT; cursor_n++)
-    {
-        glfwDestroyCursor(g_MouseCursors[cursor_n]);
-        g_MouseCursors[cursor_n] = NULL;
-    }
-    g_ClientApi = GlfwClientApi_Unknown;
+    return ImGui_ImplGlfw_Init(window, install_callbacks, GlfwClientApi_Unknown);
 }
 
-static void ImGui_ImplGlfw_UpdateMousePosAndButtons()
+void ImGui_ImplGlfw_Shutdown()
 {
-	if (!g_EnableMouseInput)
-		return;
-
-    // Update buttons
+    ImGui_ImplGlfw_Data* bd = ImGui_ImplGlfw_GetBackendData();
+    IM_ASSERT(bd != NULL && "No platform backend to shutdown, or already shutdown?");
     ImGuiIO& io = ImGui::GetIO();
-    for (int i = 0; i < IM_ARRAYSIZE(io.MouseDown); i++)
+
+    if (bd->InstalledCallbacks)
+        ImGui_ImplGlfw_RestoreCallbacks(bd->Window);
+
+    for (ImGuiMouseCursor cursor_n = 0; cursor_n < ImGuiMouseCursor_COUNT; cursor_n++)
+        glfwDestroyCursor(bd->MouseCursors[cursor_n]);
+
+    io.BackendPlatformName = NULL;
+    io.BackendPlatformUserData = NULL;
+    IM_DELETE(bd);
+}
+
+static void ImGui_ImplGlfw_UpdateMouseData()
+{
+    ImGui_ImplGlfw_Data* bd = ImGui_ImplGlfw_GetBackendData();
+    ImGuiIO& io = ImGui::GetIO();
+
+#ifdef __EMSCRIPTEN__
+    const bool is_app_focused = true;
+#else
+    const bool is_app_focused = glfwGetWindowAttrib(bd->Window, GLFW_FOCUSED) != 0;
+#endif
+    if (is_app_focused)
     {
-        // If a mouse press event came, always pass it as "mouse held this frame", so we don't miss click-release events that are shorter than 1 frame.
-        io.MouseDown[i] = g_MouseJustPressed[i] || glfwGetMouseButton(g_Window, i) != 0;
-        g_MouseJustPressed[i] = false;
+        // (Optional) Set OS mouse position from Dear ImGui if requested (rarely used, only when ImGuiConfigFlags_NavEnableSetMousePos is enabled by user)
+        if (io.WantSetMousePos)
+            glfwSetCursorPos(bd->Window, (double)io.MousePos.x, (double)io.MousePos.y);
+
+        // (Optional) Fallback to provide mouse position when focused (ImGui_ImplGlfw_CursorPosCallback already provides this when hovered or captured)
+        if (is_app_focused && bd->MouseWindow == NULL)
+        {
+            double mouse_x, mouse_y;
+            glfwGetCursorPos(bd->Window, &mouse_x, &mouse_y);
+            io.AddMousePosEvent((float)mouse_x, (float)mouse_y);
+            bd->LastValidMousePos = ImVec2((float)mouse_x, (float)mouse_y);
+        }
     }
-
-	if (!glfwGetWindowAttrib(g_Window, GLFW_FOCUSED))
-		return;
-
-    // Update mouse position
-    const ImVec2 mouse_pos_backup = io.MousePos;
-    io.MousePos = ImVec2(-FLT_MAX, -FLT_MAX);
-	if (io.WantSetMousePos)
-	{
-		glfwSetCursorPos(g_Window, (double)mouse_pos_backup.x, (double)mouse_pos_backup.y);
-	}
-	else
-	{
-		double mouse_x, mouse_y;
-		glfwGetCursorPos(g_Window, &mouse_x, &mouse_y);
-		io.MousePos = ImVec2((float)mouse_x, (float)mouse_y);
-	}
 }
 
 static void ImGui_ImplGlfw_UpdateMouseCursor()
 {
     ImGuiIO& io = ImGui::GetIO();
-    if ((io.ConfigFlags & ImGuiConfigFlags_NoMouseCursorChange) || glfwGetInputMode(g_Window, GLFW_CURSOR) == GLFW_CURSOR_DISABLED)
+    ImGui_ImplGlfw_Data* bd = ImGui_ImplGlfw_GetBackendData();
+    if ((io.ConfigFlags & ImGuiConfigFlags_NoMouseCursorChange) || glfwGetInputMode(bd->Window, GLFW_CURSOR) == GLFW_CURSOR_DISABLED)
         return;
 
     ImGuiMouseCursor imgui_cursor = ImGui::GetMouseCursor();
     if (imgui_cursor == ImGuiMouseCursor_None || io.MouseDrawCursor)
     {
         // Hide OS mouse cursor if imgui is drawing it or if it wants no cursor
-        glfwSetInputMode(g_Window, GLFW_CURSOR, GLFW_CURSOR_HIDDEN);
+        glfwSetInputMode(bd->Window, GLFW_CURSOR, GLFW_CURSOR_HIDDEN);
     }
     else
     {
         // Show OS mouse cursor
         // FIXME-PLATFORM: Unfocused windows seems to fail changing the mouse cursor with GLFW 3.2, but 3.3 works here.
-        glfwSetCursor(g_Window, g_MouseCursors[imgui_cursor] ? g_MouseCursors[imgui_cursor] : g_MouseCursors[ImGuiMouseCursor_Arrow]);
-        glfwSetInputMode(g_Window, GLFW_CURSOR, GLFW_CURSOR_NORMAL);
+        glfwSetCursor(bd->Window, bd->MouseCursors[imgui_cursor] ? bd->MouseCursors[imgui_cursor] : bd->MouseCursors[ImGuiMouseCursor_Arrow]);
+        glfwSetInputMode(bd->Window, GLFW_CURSOR, GLFW_CURSOR_NORMAL);
     }
 }
 
+// Update gamepad inputs
+static inline float Saturate(float v) { return v < 0.0f ? 0.0f : v  > 1.0f ? 1.0f : v; }
+static void ImGui_ImplGlfw_UpdateGamepads()
+{
+    ImGuiIO& io = ImGui::GetIO();
+    if ((io.ConfigFlags & ImGuiConfigFlags_NavEnableGamepad) == 0)
+        return;
+
+    io.BackendFlags &= ~ImGuiBackendFlags_HasGamepad;
+#if GLFW_HAS_GAMEPAD_API
+    GLFWgamepadstate gamepad;
+    if (!glfwGetGamepadState(GLFW_JOYSTICK_1, &gamepad))
+        return;
+    #define MAP_BUTTON(KEY_NO, BUTTON_NO, _UNUSED)          do { io.AddKeyEvent(KEY_NO, gamepad.buttons[BUTTON_NO] != 0); } while (0)
+    #define MAP_ANALOG(KEY_NO, AXIS_NO, _UNUSED, V0, V1)    do { float v = gamepad.axes[AXIS_NO]; v = (v - V0) / (V1 - V0); io.AddKeyAnalogEvent(KEY_NO, v > 0.10f, Saturate(v)); } while (0)
+#else
+    int axes_count = 0, buttons_count = 0;
+    const float* axes = glfwGetJoystickAxes(GLFW_JOYSTICK_1, &axes_count);
+    const unsigned char* buttons = glfwGetJoystickButtons(GLFW_JOYSTICK_1, &buttons_count);
+    if (axes_count == 0 || buttons_count == 0)
+        return;
+    #define MAP_BUTTON(KEY_NO, _UNUSED, BUTTON_NO)          do { io.AddKeyEvent(KEY_NO, (buttons_count > BUTTON_NO && buttons[BUTTON_NO] == GLFW_PRESS)); } while (0)
+    #define MAP_ANALOG(KEY_NO, _UNUSED, AXIS_NO, V0, V1)    do { float v = (axes_count > AXIS_NO) ? axes[AXIS_NO] : V0; v = (v - V0) / (V1 - V0); io.AddKeyAnalogEvent(KEY_NO, v > 0.10f, Saturate(v)); } while (0)
+#endif
+    io.BackendFlags |= ImGuiBackendFlags_HasGamepad;
+    MAP_BUTTON(ImGuiKey_GamepadStart,       GLFW_GAMEPAD_BUTTON_START,          7);
+    MAP_BUTTON(ImGuiKey_GamepadBack,        GLFW_GAMEPAD_BUTTON_BACK,           6);
+    MAP_BUTTON(ImGuiKey_GamepadFaceDown,    GLFW_GAMEPAD_BUTTON_A,              0);     // Xbox A, PS Cross
+    MAP_BUTTON(ImGuiKey_GamepadFaceRight,   GLFW_GAMEPAD_BUTTON_B,              1);     // Xbox B, PS Circle
+    MAP_BUTTON(ImGuiKey_GamepadFaceLeft,    GLFW_GAMEPAD_BUTTON_X,              2);     // Xbox X, PS Square
+    MAP_BUTTON(ImGuiKey_GamepadFaceUp,      GLFW_GAMEPAD_BUTTON_Y,              3);     // Xbox Y, PS Triangle
+    MAP_BUTTON(ImGuiKey_GamepadDpadLeft,    GLFW_GAMEPAD_BUTTON_DPAD_LEFT,      13);
+    MAP_BUTTON(ImGuiKey_GamepadDpadRight,   GLFW_GAMEPAD_BUTTON_DPAD_RIGHT,     11);
+    MAP_BUTTON(ImGuiKey_GamepadDpadUp,      GLFW_GAMEPAD_BUTTON_DPAD_UP,        10);
+    MAP_BUTTON(ImGuiKey_GamepadDpadDown,    GLFW_GAMEPAD_BUTTON_DPAD_DOWN,      12);
+    MAP_BUTTON(ImGuiKey_GamepadL1,          GLFW_GAMEPAD_BUTTON_LEFT_BUMPER,    4);
+    MAP_BUTTON(ImGuiKey_GamepadR1,          GLFW_GAMEPAD_BUTTON_RIGHT_BUMPER,   5);
+    MAP_ANALOG(ImGuiKey_GamepadL2,          GLFW_GAMEPAD_AXIS_LEFT_TRIGGER,     4,      -0.75f,  +1.0f);
+    MAP_ANALOG(ImGuiKey_GamepadR2,          GLFW_GAMEPAD_AXIS_RIGHT_TRIGGER,    5,      -0.75f,  +1.0f);
+    MAP_BUTTON(ImGuiKey_GamepadL3,          GLFW_GAMEPAD_BUTTON_LEFT_THUMB,     8);
+    MAP_BUTTON(ImGuiKey_GamepadR3,          GLFW_GAMEPAD_BUTTON_RIGHT_THUMB,    9);
+    MAP_ANALOG(ImGuiKey_GamepadLStickLeft,  GLFW_GAMEPAD_AXIS_LEFT_X,           0,      -0.25f,  -1.0f);
+    MAP_ANALOG(ImGuiKey_GamepadLStickRight, GLFW_GAMEPAD_AXIS_LEFT_X,           0,      +0.25f,  +1.0f);
+    MAP_ANALOG(ImGuiKey_GamepadLStickUp,    GLFW_GAMEPAD_AXIS_LEFT_Y,           1,      -0.25f,  -1.0f);
+    MAP_ANALOG(ImGuiKey_GamepadLStickDown,  GLFW_GAMEPAD_AXIS_LEFT_Y,           1,      +0.25f,  +1.0f);
+    MAP_ANALOG(ImGuiKey_GamepadRStickLeft,  GLFW_GAMEPAD_AXIS_RIGHT_X,          2,      -0.25f,  -1.0f);
+    MAP_ANALOG(ImGuiKey_GamepadRStickRight, GLFW_GAMEPAD_AXIS_RIGHT_X,          2,      +0.25f,  +1.0f);
+    MAP_ANALOG(ImGuiKey_GamepadRStickUp,    GLFW_GAMEPAD_AXIS_RIGHT_Y,          3,      -0.25f,  -1.0f);
+    MAP_ANALOG(ImGuiKey_GamepadRStickDown,  GLFW_GAMEPAD_AXIS_RIGHT_Y,          3,      +0.25f,  +1.0f);
+    #undef MAP_BUTTON
+    #undef MAP_ANALOG
+}
+
 void ImGui_ImplGlfw_NewFrame()
 {
     ImGuiIO& io = ImGui::GetIO();
-    IM_ASSERT(io.Fonts->IsBuilt());     // Font atlas needs to be built, call renderer _NewFrame() function e.g. ImGui_ImplOpenGL3_NewFrame() 
+    ImGui_ImplGlfw_Data* bd = ImGui_ImplGlfw_GetBackendData();
+    IM_ASSERT(bd != NULL && "Did you call ImGui_ImplGlfw_InitForXXX()?");
 
 #if false // Rendering to our own framebuffer
-    // Setup display size
+    // Setup display size (every frame to accommodate for window resizing)
     int w, h;
     int display_w, display_h;
-    glfwGetWindowSize(g_Window, &w, &h);
-    glfwGetFramebufferSize(g_Window, &display_w, &display_h);
+    glfwGetWindowSize(bd->Window, &w, &h);
+    glfwGetFramebufferSize(bd->Window, &display_w, &display_h);
     io.DisplaySize = ImVec2((float)w, (float)h);
-    io.DisplayFramebufferScale = ImVec2(w > 0 ? ((float)display_w / w) : 0, h > 0 ? ((float)display_h / h) : 0);
+    if (w > 0 && h > 0)
+        io.DisplayFramebufferScale = ImVec2((float)display_w / (float)w, (float)display_h / (float)h);
 #endif
 
     // Setup time step
     double current_time = glfwGetTime();
-    io.DeltaTime = g_Time > 0.0 ? (float)(current_time - g_Time) : (float)(1.0f/60.0f);
-    g_Time = current_time;
+    io.DeltaTime = bd->Time > 0.0 ? (float)(current_time - bd->Time) : (float)(1.0f / 60.0f);
+    bd->Time = current_time;
 
-    ImGui_ImplGlfw_UpdateMousePosAndButtons();
+    ImGui_ImplGlfw_UpdateMouseData();
     ImGui_ImplGlfw_UpdateMouseCursor();
 
-    // Gamepad navigation mapping [BETA]
-    memset(io.NavInputs, 0, sizeof(io.NavInputs));
-    if (io.ConfigFlags & ImGuiConfigFlags_NavEnableGamepad)
-    {
-        // Update gamepad inputs
-        #define MAP_BUTTON(NAV_NO, BUTTON_NO)       { if (buttons_count > BUTTON_NO && buttons[BUTTON_NO] == GLFW_PRESS) io.NavInputs[NAV_NO] = 1.0f; }
-        #define MAP_ANALOG(NAV_NO, AXIS_NO, V0, V1) { float v = (axes_count > AXIS_NO) ? axes[AXIS_NO] : V0; v = (v - V0) / (V1 - V0); if (v > 1.0f) v = 1.0f; if (io.NavInputs[NAV_NO] < v) io.NavInputs[NAV_NO] = v; }
-        int axes_count = 0, buttons_count = 0;
-        const float* axes = glfwGetJoystickAxes(GLFW_JOYSTICK_1, &axes_count);
-        const unsigned char* buttons = glfwGetJoystickButtons(GLFW_JOYSTICK_1, &buttons_count);
-        MAP_BUTTON(ImGuiNavInput_Activate,   0);     // Cross / A
-        MAP_BUTTON(ImGuiNavInput_Cancel,     1);     // Circle / B
-        MAP_BUTTON(ImGuiNavInput_Menu,       2);     // Square / X
-        MAP_BUTTON(ImGuiNavInput_Input,      3);     // Triangle / Y
-        MAP_BUTTON(ImGuiNavInput_DpadLeft,   13);    // D-Pad Left
-        MAP_BUTTON(ImGuiNavInput_DpadRight,  11);    // D-Pad Right
-        MAP_BUTTON(ImGuiNavInput_DpadUp,     10);    // D-Pad Up
-        MAP_BUTTON(ImGuiNavInput_DpadDown,   12);    // D-Pad Down
-        MAP_BUTTON(ImGuiNavInput_FocusPrev,  4);     // L1 / LB
-        MAP_BUTTON(ImGuiNavInput_FocusNext,  5);     // R1 / RB
-        MAP_BUTTON(ImGuiNavInput_TweakSlow,  4);     // L1 / LB
-        MAP_BUTTON(ImGuiNavInput_TweakFast,  5);     // R1 / RB
-        MAP_ANALOG(ImGuiNavInput_LStickLeft, 0,  -0.3f,  -0.9f);
-        MAP_ANALOG(ImGuiNavInput_LStickRight,0,  +0.3f,  +0.9f);
-        MAP_ANALOG(ImGuiNavInput_LStickUp,   1,  +0.3f,  +0.9f);
-        MAP_ANALOG(ImGuiNavInput_LStickDown, 1,  -0.3f,  -0.9f);
-        #undef MAP_BUTTON
-        #undef MAP_ANALOG
-        if (axes_count > 0 && buttons_count > 0)
-            io.BackendFlags |= ImGuiBackendFlags_HasGamepad;
-        else
-            io.BackendFlags &= ~ImGuiBackendFlags_HasGamepad;
-    }
+    // Update game controllers (if enabled and available)
+    ImGui_ImplGlfw_UpdateGamepads();
 }
+
+#if defined(__clang__)
+#pragma clang diagnostic pop
+#endif

lib/imgui/imgui_impl_glfw.h

@@ -1,34 +1,46 @@
-// ImGui Platform Binding for: GLFW
-// This needs to be used along with a Renderer (e.g. OpenGL3, Vulkan..)
+// dear imgui: Platform Backend for GLFW
+// This needs to be used along with a Renderer (e.g. OpenGL3, Vulkan, WebGPU..)
 // (Info: GLFW is a cross-platform general purpose library for handling windows, inputs, OpenGL/Vulkan graphics context creation, etc.)
 
 // Implemented features:
 //  [X] Platform: Clipboard support.
-//  [X] Platform: Gamepad navigation mapping. Enable with 'io.ConfigFlags |= ImGuiConfigFlags_NavEnableGamepad'.
-//  [x] Platform: Mouse cursor shape and visibility. Disable with 'io.ConfigFlags |= ImGuiConfigFlags_NoMouseCursorChange'. FIXME: 3 cursors types are missing from GLFW.
+//  [X] Platform: Keyboard support. Since 1.87 we are using the io.AddKeyEvent() function. Pass ImGuiKey values to all key functions e.g. ImGui::IsKeyPressed(ImGuiKey_Space). [Legacy GLFW_KEY_* values will also be supported unless IMGUI_DISABLE_OBSOLETE_KEYIO is set]
+//  [X] Platform: Gamepad support. Enable with 'io.ConfigFlags |= ImGuiConfigFlags_NavEnableGamepad'.
+//  [X] Platform: Mouse cursor shape and visibility. Disable with 'io.ConfigFlags |= ImGuiConfigFlags_NoMouseCursorChange' (note: the resizing cursors requires GLFW 3.4+).
 
-// You can copy and use unmodified imgui_impl_* files in your project. See main.cpp for an example of using this.
-// If you use this binding you'll need to call 4 functions: ImGui_ImplXXXX_Init(), ImGui_ImplXXXX_NewFrame(), ImGui::Render() and ImGui_ImplXXXX_Shutdown().
-// If you are new to ImGui, see examples/README.txt and documentation at the top of imgui.cpp.
-// https://github.com/ocornut/imgui
+// You can use unmodified imgui_impl_* files in your project. See examples/ folder for examples of using this.
+// Prefer including the entire imgui/ repository into your project (either as a copy or as a submodule), and only build the backends you need.
+// If you are new to Dear ImGui, read documentation from the docs/ folder + read the top of imgui.cpp.
+// Read online: https://github.com/ocornut/imgui/tree/master/docs
 
 // About GLSL version:
 // The 'glsl_version' initialization parameter defaults to "#version 150" if NULL.
 // Only override if your GL version doesn't handle this GLSL version. Keep NULL if unsure!
 
+#pragma once
+#include "imgui.h"      // IMGUI_IMPL_API
+
 struct GLFWwindow;
+struct GLFWmonitor;
 
 IMGUI_IMPL_API bool     ImGui_ImplGlfw_InitForOpenGL(GLFWwindow* window, bool install_callbacks);
 IMGUI_IMPL_API bool     ImGui_ImplGlfw_InitForVulkan(GLFWwindow* window, bool install_callbacks);
+IMGUI_IMPL_API bool     ImGui_ImplGlfw_InitForOther(GLFWwindow* window, bool install_callbacks);
 IMGUI_IMPL_API void     ImGui_ImplGlfw_Shutdown();
 IMGUI_IMPL_API void     ImGui_ImplGlfw_NewFrame();
 
-// GLFW callbacks (installed by default if you enable 'install_callbacks' during initialization)
-// Provided here if you want to chain callbacks.
-// You can also handle inputs yourself and use those as a reference.
+// GLFW callbacks (installer)
+// - When calling Init with 'install_callbacks=true': ImGui_ImplGlfw_InstallCallbacks() is called. GLFW callbacks will be installed for you. They will chain-call user's previously installed callbacks, if any.
+// - When calling Init with 'install_callbacks=false': GLFW callbacks won't be installed. You will need to call individual function yourself from your own GLFW callbacks.
+IMGUI_IMPL_API void     ImGui_ImplGlfw_InstallCallbacks(GLFWwindow* window);
+IMGUI_IMPL_API void     ImGui_ImplGlfw_RestoreCallbacks(GLFWwindow* window);
+
+// GLFW callbacks (individual callbacks to call if you didn't install callbacks)
+IMGUI_IMPL_API void     ImGui_ImplGlfw_WindowFocusCallback(GLFWwindow* window, int focused);        // Since 1.84
+IMGUI_IMPL_API void     ImGui_ImplGlfw_CursorEnterCallback(GLFWwindow* window, int entered);        // Since 1.84
+IMGUI_IMPL_API void     ImGui_ImplGlfw_CursorPosCallback(GLFWwindow* window, double x, double y);   // Since 1.87
 IMGUI_IMPL_API void     ImGui_ImplGlfw_MouseButtonCallback(GLFWwindow* window, int button, int action, int mods);
 IMGUI_IMPL_API void     ImGui_ImplGlfw_ScrollCallback(GLFWwindow* window, double xoffset, double yoffset);
 IMGUI_IMPL_API void     ImGui_ImplGlfw_KeyCallback(GLFWwindow* window, int key, int scancode, int action, int mods);
 IMGUI_IMPL_API void     ImGui_ImplGlfw_CharCallback(GLFWwindow* window, unsigned int c);
-
-IMGUI_IMPL_API void     ImGui_ImplGlfw_SetReadMouseFromGlfw(bool enabled);
+IMGUI_IMPL_API void     ImGui_ImplGlfw_MonitorCallback(GLFWmonitor* monitor, int event);

lib/imgui/imgui_impl_opengl3.cpp

@@ -1,12 +1,58 @@
-// ImGui Renderer for: OpenGL3 (modern OpenGL with shaders / programmatic pipeline)
-// This needs to be used along with a Platform Binding (e.g. GLFW, SDL, Win32, custom..)
-// (Note: We are using GL3W as a helper library to access OpenGL functions since there is no standard header to access modern OpenGL functions easily. Alternatives are GLEW, Glad, etc..)
+// dear imgui: Renderer Backend for modern OpenGL with shaders / programmatic pipeline
+// - Desktop GL: 2.x 3.x 4.x
+// - Embedded GL: ES 2.0 (WebGL 1.0), ES 3.0 (WebGL 2.0)
+// This needs to be used along with a Platform Backend (e.g. GLFW, SDL, Win32, custom..)
 
 // Implemented features:
-//  [X] Renderer: User texture binding. Use 'GLuint' OpenGL texture identifier as void*/ImTextureID. Read the FAQ about ImTextureID in imgui.cpp.
+//  [X] Renderer: User texture binding. Use 'GLuint' OpenGL texture identifier as void*/ImTextureID. Read the FAQ about ImTextureID!
+//  [x] Renderer: Desktop GL only: Support for large meshes (64k+ vertices) with 16-bit indices.
 
-// CHANGELOG 
+// You can use unmodified imgui_impl_* files in your project. See examples/ folder for examples of using this.
+// Prefer including the entire imgui/ repository into your project (either as a copy or as a submodule), and only build the backends you need.
+// If you are new to Dear ImGui, read documentation from the docs/ folder + read the top of imgui.cpp.
+// Read online: https://github.com/ocornut/imgui/tree/master/docs
+
+// CHANGELOG
 // (minor and older changes stripped away, please see git history for details)
+//  2022-05-23: OpenGL: Reworking 2021-12-15 "Using buffer orphaning" so it only happens on Intel GPU, seems to cause problems otherwise. (#4468, #4825, #4832, #5127).
+//  2022-05-13: OpenGL: Fix state corruption on OpenGL ES 2.0 due to not preserving GL_ELEMENT_ARRAY_BUFFER_BINDING and vertex attribute states.
+//  2021-12-15: OpenGL: Using buffer orphaning + glBufferSubData(), seems to fix leaks with multi-viewports with some Intel HD drivers.
+//  2021-08-23: OpenGL: Fixed ES 3.0 shader ("#version 300 es") use normal precision floats to avoid wobbly rendering at HD resolutions.
+//  2021-08-19: OpenGL: Embed and use our own minimal GL loader (imgui_impl_opengl3_loader.h), removing requirement and support for third-party loader.
+//  2021-06-29: Reorganized backend to pull data from a single structure to facilitate usage with multiple-contexts (all g_XXXX access changed to bd->XXXX).
+//  2021-06-25: OpenGL: Use OES_vertex_array extension on Emscripten + backup/restore current state.
+//  2021-06-21: OpenGL: Destroy individual vertex/fragment shader objects right after they are linked into the main shader.
+//  2021-05-24: OpenGL: Access GL_CLIP_ORIGIN when "GL_ARB_clip_control" extension is detected, inside of just OpenGL 4.5 version.
+//  2021-05-19: OpenGL: Replaced direct access to ImDrawCmd::TextureId with a call to ImDrawCmd::GetTexID(). (will become a requirement)
+//  2021-04-06: OpenGL: Don't try to read GL_CLIP_ORIGIN unless we're OpenGL 4.5 or greater.
+//  2021-02-18: OpenGL: Change blending equation to preserve alpha in output buffer.
+//  2021-01-03: OpenGL: Backup, setup and restore GL_STENCIL_TEST state.
+//  2020-10-23: OpenGL: Backup, setup and restore GL_PRIMITIVE_RESTART state.
+//  2020-10-15: OpenGL: Use glGetString(GL_VERSION) instead of glGetIntegerv(GL_MAJOR_VERSION, ...) when the later returns zero (e.g. Desktop GL 2.x)
+//  2020-09-17: OpenGL: Fix to avoid compiling/calling glBindSampler() on ES or pre 3.3 context which have the defines set by a loader.
+//  2020-07-10: OpenGL: Added support for glad2 OpenGL loader.
+//  2020-05-08: OpenGL: Made default GLSL version 150 (instead of 130) on OSX.
+//  2020-04-21: OpenGL: Fixed handling of glClipControl(GL_UPPER_LEFT) by inverting projection matrix.
+//  2020-04-12: OpenGL: Fixed context version check mistakenly testing for 4.0+ instead of 3.2+ to enable ImGuiBackendFlags_RendererHasVtxOffset.
+//  2020-03-24: OpenGL: Added support for glbinding 2.x OpenGL loader.
+//  2020-01-07: OpenGL: Added support for glbinding 3.x OpenGL loader.
+//  2019-10-25: OpenGL: Using a combination of GL define and runtime GL version to decide whether to use glDrawElementsBaseVertex(). Fix building with pre-3.2 GL loaders.
+//  2019-09-22: OpenGL: Detect default GL loader using __has_include compiler facility.
+//  2019-09-16: OpenGL: Tweak initialization code to allow application calling ImGui_ImplOpenGL3_CreateFontsTexture() before the first NewFrame() call.
+//  2019-05-29: OpenGL: Desktop GL only: Added support for large mesh (64K+ vertices), enable ImGuiBackendFlags_RendererHasVtxOffset flag.
+//  2019-04-30: OpenGL: Added support for special ImDrawCallback_ResetRenderState callback to reset render state.
+//  2019-03-29: OpenGL: Not calling glBindBuffer more than necessary in the render loop.
+//  2019-03-15: OpenGL: Added a GL call + comments in ImGui_ImplOpenGL3_Init() to detect uninitialized GL function loaders early.
+//  2019-03-03: OpenGL: Fix support for ES 2.0 (WebGL 1.0).
+//  2019-02-20: OpenGL: Fix for OSX not supporting OpenGL 4.5, we don't try to read GL_CLIP_ORIGIN even if defined by the headers/loader.
+//  2019-02-11: OpenGL: Projecting clipping rectangles correctly using draw_data->FramebufferScale to allow multi-viewports for retina display.
+//  2019-02-01: OpenGL: Using GLSL 410 shaders for any version over 410 (e.g. 430, 450).
+//  2018-11-30: Misc: Setting up io.BackendRendererName so it can be displayed in the About Window.
+//  2018-11-13: OpenGL: Support for GL 4.5's glClipControl(GL_UPPER_LEFT) / GL_CLIP_ORIGIN.
+//  2018-08-29: OpenGL: Added support for more OpenGL loaders: glew and glad, with comments indicative that any loader can be used.
+//  2018-08-09: OpenGL: Default to OpenGL ES 3 on iOS and Android. GLSL version default to "#version 300 ES".
+//  2018-07-30: OpenGL: Support for GLSL 300 ES and 410 core. Fixes for Emscripten compilation.
+//  2018-07-10: OpenGL: Support for more GLSL versions (based on the GLSL version string). Added error output when shaders fail to compile/link.
 //  2018-06-08: Misc: Extracted imgui_impl_opengl3.cpp/.h away from the old combined GLFW/SDL+OpenGL3 examples.
 //  2018-06-08: OpenGL: Use draw_data->DisplayPos and draw_data->DisplaySize to setup projection matrix and clipping rectangle.
 //  2018-05-25: OpenGL: Removed unnecessary backup/restore of GL_ELEMENT_ARRAY_BUFFER_BINDING since this is part of the VAO state.
@@ -21,68 +67,387 @@
 //  2016-09-05: OpenGL: Fixed save and restore of current scissor rectangle.
 //  2016-07-29: OpenGL: Explicitly setting GL_UNPACK_ROW_LENGTH to reduce issues because SDL changes it. (#752)
 
+//----------------------------------------
+// OpenGL    GLSL      GLSL
+// version   version   string
+//----------------------------------------
+//  2.0       110       "#version 110"
+//  2.1       120       "#version 120"
+//  3.0       130       "#version 130"
+//  3.1       140       "#version 140"
+//  3.2       150       "#version 150"
+//  3.3       330       "#version 330 core"
+//  4.0       400       "#version 400 core"
+//  4.1       410       "#version 410 core"
+//  4.2       420       "#version 410 core"
+//  4.3       430       "#version 430 core"
+//  ES 2.0    100       "#version 100"      = WebGL 1.0
+//  ES 3.0    300       "#version 300 es"   = WebGL 2.0
+//----------------------------------------
+
 #if defined(_MSC_VER) && !defined(_CRT_SECURE_NO_WARNINGS)
 #define _CRT_SECURE_NO_WARNINGS
 #endif
 
 #include "imgui.h"
 #include "imgui_impl_opengl3.h"
-#include <GL/gl3w.h>    // This example is using gl3w to access OpenGL functions. You may freely use any other OpenGL loader such as: glew, glad, glLoadGen, etc.
-//#include <glew.h>
+#include <stdio.h>
+#if defined(_MSC_VER) && _MSC_VER <= 1500 // MSVC 2008 or earlier
+#include <stddef.h>     // intptr_t
+#else
+#include <stdint.h>     // intptr_t
+#endif
+#if defined(__APPLE__)
+#include <TargetConditionals.h>
+#endif
+
+// Clang warnings with -Weverything
+#if defined(__clang__)
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wold-style-cast"     // warning: use of old-style cast
+#pragma clang diagnostic ignored "-Wsign-conversion"    // warning: implicit conversion changes signedness
+#if __has_warning("-Wzero-as-null-pointer-constant")
+#pragma clang diagnostic ignored "-Wzero-as-null-pointer-constant"
+#endif
+#endif
+
+// GL includes
+#if defined(IMGUI_IMPL_OPENGL_ES2)
+#if (defined(__APPLE__) && (TARGET_OS_IOS || TARGET_OS_TV))
+#include <OpenGLES/ES2/gl.h>    // Use GL ES 2
+#else
+#include <GLES2/gl2.h>          // Use GL ES 2
+#endif
+#if defined(__EMSCRIPTEN__)
+#ifndef GL_GLEXT_PROTOTYPES
+#define GL_GLEXT_PROTOTYPES
+#endif
+#include <GLES2/gl2ext.h>
+#endif
+#elif defined(IMGUI_IMPL_OPENGL_ES3)
+#if (defined(__APPLE__) && (TARGET_OS_IOS || TARGET_OS_TV))
+#include <OpenGLES/ES3/gl.h>    // Use GL ES 3
+#else
+#include <GLES3/gl3.h>          // Use GL ES 3
+#endif
+#elif !defined(IMGUI_IMPL_OPENGL_LOADER_CUSTOM)
+// Modern desktop OpenGL doesn't have a standard portable header file to load OpenGL function pointers.
+// Helper libraries are often used for this purpose! Here we are using our own minimal custom loader based on gl3w.
+// In the rest of your app/engine, you can use another loader of your choice (gl3w, glew, glad, glbinding, glext, glLoadGen, etc.).
+// If you happen to be developing a new feature for this backend (imgui_impl_opengl3.cpp):
+// - You may need to regenerate imgui_impl_opengl3_loader.h to add new symbols. See https://github.com/dearimgui/gl3w_stripped
+// - You can temporarily use an unstripped version. See https://github.com/dearimgui/gl3w_stripped/releases
+// Changes to this backend using new APIs should be accompanied by a regenerated stripped loader version.
+#define IMGL3W_IMPL
+#include "imgui_impl_opengl3_loader.h"
+#endif
+
+// Vertex arrays are not supported on ES2/WebGL1 unless Emscripten which uses an extension
+#ifndef IMGUI_IMPL_OPENGL_ES2
+#define IMGUI_IMPL_OPENGL_USE_VERTEX_ARRAY
+#elif defined(__EMSCRIPTEN__)
+#define IMGUI_IMPL_OPENGL_USE_VERTEX_ARRAY
+#define glBindVertexArray       glBindVertexArrayOES
+#define glGenVertexArrays       glGenVertexArraysOES
+#define glDeleteVertexArrays    glDeleteVertexArraysOES
+#define GL_VERTEX_ARRAY_BINDING GL_VERTEX_ARRAY_BINDING_OES
+#endif
+
+// Desktop GL 2.0+ has glPolygonMode() which GL ES and WebGL don't have.
+#ifdef GL_POLYGON_MODE
+#define IMGUI_IMPL_HAS_POLYGON_MODE
+#endif
+
+// Desktop GL 3.2+ has glDrawElementsBaseVertex() which GL ES and WebGL don't have.
+#if !defined(IMGUI_IMPL_OPENGL_ES2) && !defined(IMGUI_IMPL_OPENGL_ES3) && defined(GL_VERSION_3_2)
+#define IMGUI_IMPL_OPENGL_MAY_HAVE_VTX_OFFSET
+#endif
+
+// Desktop GL 3.3+ has glBindSampler()
+#if !defined(IMGUI_IMPL_OPENGL_ES2) && !defined(IMGUI_IMPL_OPENGL_ES3) && defined(GL_VERSION_3_3)
+#define IMGUI_IMPL_OPENGL_MAY_HAVE_BIND_SAMPLER
+#endif
+
+// Desktop GL 3.1+ has GL_PRIMITIVE_RESTART state
+#if !defined(IMGUI_IMPL_OPENGL_ES2) && !defined(IMGUI_IMPL_OPENGL_ES3) && defined(GL_VERSION_3_1)
+#define IMGUI_IMPL_OPENGL_MAY_HAVE_PRIMITIVE_RESTART
+#endif
+
+// Desktop GL use extension detection
+#if !defined(IMGUI_IMPL_OPENGL_ES2) && !defined(IMGUI_IMPL_OPENGL_ES3)
+#define IMGUI_IMPL_OPENGL_MAY_HAVE_EXTENSIONS
+#endif
 
 // OpenGL Data
-static char         g_GlslVersion[32] = "#version 150";
-static GLuint       g_FontTexture = 0;
-static int          g_ShaderHandle = 0, g_VertHandle = 0, g_FragHandle = 0;
-static int          g_AttribLocationTex = 0, g_AttribLocationProjMtx = 0;
-static int          g_AttribLocationPosition = 0, g_AttribLocationUV = 0, g_AttribLocationColor = 0;
-static unsigned int g_VboHandle = 0, g_ElementsHandle = 0;
+struct ImGui_ImplOpenGL3_Data
+{
+    GLuint          GlVersion;               // Extracted at runtime using GL_MAJOR_VERSION, GL_MINOR_VERSION queries (e.g. 320 for GL 3.2)
+    char            GlslVersionString[32];   // Specified by user or detected based on compile time GL settings.
+    GLuint          FontTexture;
+    GLuint          ShaderHandle;
+    GLint           AttribLocationTex;       // Uniforms location
+    GLint           AttribLocationProjMtx;
+    GLuint          AttribLocationVtxPos;    // Vertex attributes location
+    GLuint          AttribLocationVtxUV;
+    GLuint          AttribLocationVtxColor;
+    unsigned int    VboHandle, ElementsHandle;
+    GLsizeiptr      VertexBufferSize;
+    GLsizeiptr      IndexBufferSize;
+    bool            HasClipOrigin;
+    bool            UseBufferSubData;
+
+    ImGui_ImplOpenGL3_Data() { memset((void*)this, 0, sizeof(*this)); }
+};
+
+// Backend data stored in io.BackendRendererUserData to allow support for multiple Dear ImGui contexts
+// It is STRONGLY preferred that you use docking branch with multi-viewports (== single Dear ImGui context + multiple windows) instead of multiple Dear ImGui contexts.
+static ImGui_ImplOpenGL3_Data* ImGui_ImplOpenGL3_GetBackendData()
+{
+    return ImGui::GetCurrentContext() ? (ImGui_ImplOpenGL3_Data*)ImGui::GetIO().BackendRendererUserData : NULL;
+}
+
+// OpenGL vertex attribute state (for ES 1.0 and ES 2.0 only)
+#ifndef IMGUI_IMPL_OPENGL_USE_VERTEX_ARRAY
+struct ImGui_ImplOpenGL3_VtxAttribState
+{
+    GLint   Enabled, Size, Type, Normalized, Stride;
+    GLvoid* Ptr;
+
+    void GetState(GLint index)
+    {
+        glGetVertexAttribiv(index, GL_VERTEX_ATTRIB_ARRAY_ENABLED, &Enabled);
+        glGetVertexAttribiv(index, GL_VERTEX_ATTRIB_ARRAY_SIZE, &Size);
+        glGetVertexAttribiv(index, GL_VERTEX_ATTRIB_ARRAY_TYPE, &Type);
+        glGetVertexAttribiv(index, GL_VERTEX_ATTRIB_ARRAY_NORMALIZED, &Normalized);
+        glGetVertexAttribiv(index, GL_VERTEX_ATTRIB_ARRAY_STRIDE, &Stride);
+        glGetVertexAttribPointerv(index, GL_VERTEX_ATTRIB_ARRAY_POINTER, &Ptr);
+    }
+    void SetState(GLint index)
+    {
+        glVertexAttribPointer(index, Size, Type, (GLboolean)Normalized, Stride, Ptr);
+        if (Enabled) glEnableVertexAttribArray(index); else glDisableVertexAttribArray(index);
+    }
+};
+#endif
 
 // Functions
 bool    ImGui_ImplOpenGL3_Init(const char* glsl_version)
 {
-    // Store GLSL version string so we can refer to it later in case we recreate shaders. Note: GLSL version is NOT the same as GL version. Leave this to NULL if unsure.
+    ImGuiIO& io = ImGui::GetIO();
+    IM_ASSERT(io.BackendRendererUserData == NULL && "Already initialized a renderer backend!");
+
+    // Initialize our loader
+#if !defined(IMGUI_IMPL_OPENGL_ES2) && !defined(IMGUI_IMPL_OPENGL_ES3) && !defined(IMGUI_IMPL_OPENGL_LOADER_CUSTOM)
+    if (imgl3wInit() != 0)
+    {
+        fprintf(stderr, "Failed to initialize OpenGL loader!\n");
+        return false;
+    }
+#endif
+
+    // Setup backend capabilities flags
+    ImGui_ImplOpenGL3_Data* bd = IM_NEW(ImGui_ImplOpenGL3_Data)();
+    io.BackendRendererUserData = (void*)bd;
+    io.BackendRendererName = "imgui_impl_opengl3";
+
+    // Query for GL version (e.g. 320 for GL 3.2)
+#if !defined(IMGUI_IMPL_OPENGL_ES2)
+    GLint major = 0;
+    GLint minor = 0;
+    glGetIntegerv(GL_MAJOR_VERSION, &major);
+    glGetIntegerv(GL_MINOR_VERSION, &minor);
+    if (major == 0 && minor == 0)
+    {
+        // Query GL_VERSION in desktop GL 2.x, the string will start with "<major>.<minor>"
+        const char* gl_version = (const char*)glGetString(GL_VERSION);
+        sscanf(gl_version, "%d.%d", &major, &minor);
+    }
+    bd->GlVersion = (GLuint)(major * 100 + minor * 10);
+
+    // Query vendor to enable glBufferSubData kludge
+#ifdef _WIN32
+    if (const char* vendor = (const char*)glGetString(GL_VENDOR))
+        if (strncmp(vendor, "Intel", 5) == 0)
+            bd->UseBufferSubData = true;
+#endif
+    //printf("GL_MAJOR_VERSION = %d\nGL_MINOR_VERSION = %d\nGL_VENDOR = '%s'\nGL_RENDERER = '%s'\n", major, minor, (const char*)glGetString(GL_VENDOR), (const char*)glGetString(GL_RENDERER)); // [DEBUG]
+#else
+    bd->GlVersion = 200; // GLES 2
+#endif
+
+#ifdef IMGUI_IMPL_OPENGL_MAY_HAVE_VTX_OFFSET
+    if (bd->GlVersion >= 320)
+        io.BackendFlags |= ImGuiBackendFlags_RendererHasVtxOffset;  // We can honor the ImDrawCmd::VtxOffset field, allowing for large meshes.
+#endif
+
+    // Store GLSL version string so we can refer to it later in case we recreate shaders.
+    // Note: GLSL version is NOT the same as GL version. Leave this to NULL if unsure.
     if (glsl_version == NULL)
+    {
+#if defined(IMGUI_IMPL_OPENGL_ES2)
+        glsl_version = "#version 100";
+#elif defined(IMGUI_IMPL_OPENGL_ES3)
+        glsl_version = "#version 300 es";
+#elif defined(__APPLE__)
         glsl_version = "#version 150";
-    IM_ASSERT((int)strlen(glsl_version) + 2 < IM_ARRAYSIZE(g_GlslVersion));
-    strcpy(g_GlslVersion, glsl_version);
-    strcat(g_GlslVersion, "\n");
+#else
+        glsl_version = "#version 130";
+#endif
+    }
+    IM_ASSERT((int)strlen(glsl_version) + 2 < IM_ARRAYSIZE(bd->GlslVersionString));
+    strcpy(bd->GlslVersionString, glsl_version);
+    strcat(bd->GlslVersionString, "\n");
+
+    // Make an arbitrary GL call (we don't actually need the result)
+    // IF YOU GET A CRASH HERE: it probably means the OpenGL function loader didn't do its job. Let us know!
+    GLint current_texture;
+    glGetIntegerv(GL_TEXTURE_BINDING_2D, &current_texture);
+
+    // Detect extensions we support
+    bd->HasClipOrigin = (bd->GlVersion >= 450);
+#ifdef IMGUI_IMPL_OPENGL_MAY_HAVE_EXTENSIONS
+    GLint num_extensions = 0;
+    glGetIntegerv(GL_NUM_EXTENSIONS, &num_extensions);
+    for (GLint i = 0; i < num_extensions; i++)
+    {
+        const char* extension = (const char*)glGetStringi(GL_EXTENSIONS, i);
+        if (extension != NULL && strcmp(extension, "GL_ARB_clip_control") == 0)
+            bd->HasClipOrigin = true;
+    }
+#endif
+
     return true;
 }
 
 void    ImGui_ImplOpenGL3_Shutdown()
 {
+    ImGui_ImplOpenGL3_Data* bd = ImGui_ImplOpenGL3_GetBackendData();
+    IM_ASSERT(bd != NULL && "No renderer backend to shutdown, or already shutdown?");
+    ImGuiIO& io = ImGui::GetIO();
+
     ImGui_ImplOpenGL3_DestroyDeviceObjects();
+    io.BackendRendererName = NULL;
+    io.BackendRendererUserData = NULL;
+    IM_DELETE(bd);
 }
 
 void    ImGui_ImplOpenGL3_NewFrame()
 {
-    if (!g_FontTexture)
+    ImGui_ImplOpenGL3_Data* bd = ImGui_ImplOpenGL3_GetBackendData();
+    IM_ASSERT(bd != NULL && "Did you call ImGui_ImplOpenGL3_Init()?");
+
+    if (!bd->ShaderHandle)
         ImGui_ImplOpenGL3_CreateDeviceObjects();
 }
 
+static void ImGui_ImplOpenGL3_SetupRenderState(ImDrawData* draw_data, int fb_width, int fb_height, GLuint vertex_array_object)
+{
+    ImGui_ImplOpenGL3_Data* bd = ImGui_ImplOpenGL3_GetBackendData();
+
+    // Setup render state: alpha-blending enabled, no face culling, no depth testing, scissor enabled, polygon fill
+    glEnable(GL_BLEND);
+    glBlendEquation(GL_FUNC_ADD);
+    glBlendFuncSeparate(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA, GL_ONE, GL_ONE_MINUS_SRC_ALPHA);
+    glDisable(GL_CULL_FACE);
+    glDisable(GL_DEPTH_TEST);
+    glDisable(GL_STENCIL_TEST);
+    glEnable(GL_SCISSOR_TEST);
+#ifdef IMGUI_IMPL_OPENGL_MAY_HAVE_PRIMITIVE_RESTART
+    if (bd->GlVersion >= 310)
+        glDisable(GL_PRIMITIVE_RESTART);
+#endif
+#ifdef IMGUI_IMPL_HAS_POLYGON_MODE
+    glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
+#endif
+
+    // Support for GL 4.5 rarely used glClipControl(GL_UPPER_LEFT)
+#if defined(GL_CLIP_ORIGIN)
+    bool clip_origin_lower_left = true;
+    if (bd->HasClipOrigin)
+    {
+        GLenum current_clip_origin = 0; glGetIntegerv(GL_CLIP_ORIGIN, (GLint*)&current_clip_origin);
+        if (current_clip_origin == GL_UPPER_LEFT)
+            clip_origin_lower_left = false;
+    }
+#endif
+
+    // Setup viewport, orthographic projection matrix
+    // Our visible imgui space lies from draw_data->DisplayPos (top left) to draw_data->DisplayPos+data_data->DisplaySize (bottom right). DisplayPos is (0,0) for single viewport apps.
+    glViewport(0, 0, (GLsizei)fb_width, (GLsizei)fb_height);
+    float L = draw_data->DisplayPos.x;
+    float R = draw_data->DisplayPos.x + draw_data->DisplaySize.x;
+    float T = draw_data->DisplayPos.y;
+    float B = draw_data->DisplayPos.y + draw_data->DisplaySize.y;
+#if defined(GL_CLIP_ORIGIN)
+    if (!clip_origin_lower_left) { float tmp = T; T = B; B = tmp; } // Swap top and bottom if origin is upper left
+#endif
+    const float ortho_projection[4][4] =
+    {
+        { 2.0f/(R-L),   0.0f,         0.0f,   0.0f },
+        { 0.0f,         2.0f/(T-B),   0.0f,   0.0f },
+        { 0.0f,         0.0f,        -1.0f,   0.0f },
+        { (R+L)/(L-R),  (T+B)/(B-T),  0.0f,   1.0f },
+    };
+    glUseProgram(bd->ShaderHandle);
+    glUniform1i(bd->AttribLocationTex, 0);
+    glUniformMatrix4fv(bd->AttribLocationProjMtx, 1, GL_FALSE, &ortho_projection[0][0]);
+
+#ifdef IMGUI_IMPL_OPENGL_MAY_HAVE_BIND_SAMPLER
+    if (bd->GlVersion >= 330)
+        glBindSampler(0, 0); // We use combined texture/sampler state. Applications using GL 3.3 may set that otherwise.
+#endif
+
+    (void)vertex_array_object;
+#ifdef IMGUI_IMPL_OPENGL_USE_VERTEX_ARRAY
+    glBindVertexArray(vertex_array_object);
+#endif
+
+    // Bind vertex/index buffers and setup attributes for ImDrawVert
+    glBindBuffer(GL_ARRAY_BUFFER, bd->VboHandle);
+    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, bd->ElementsHandle);
+    glEnableVertexAttribArray(bd->AttribLocationVtxPos);
+    glEnableVertexAttribArray(bd->AttribLocationVtxUV);
+    glEnableVertexAttribArray(bd->AttribLocationVtxColor);
+    glVertexAttribPointer(bd->AttribLocationVtxPos,   2, GL_FLOAT,         GL_FALSE, sizeof(ImDrawVert), (GLvoid*)IM_OFFSETOF(ImDrawVert, pos));
+    glVertexAttribPointer(bd->AttribLocationVtxUV,    2, GL_FLOAT,         GL_FALSE, sizeof(ImDrawVert), (GLvoid*)IM_OFFSETOF(ImDrawVert, uv));
+    glVertexAttribPointer(bd->AttribLocationVtxColor, 4, GL_UNSIGNED_BYTE, GL_TRUE,  sizeof(ImDrawVert), (GLvoid*)IM_OFFSETOF(ImDrawVert, col));
+}
+
 // OpenGL3 Render function.
-// (this used to be set in io.RenderDrawListsFn and called by ImGui::Render(), but you can now call this directly from your main loop)
-// Note that this implementation is little overcomplicated because we are saving/setting up/restoring every OpenGL state explicitly, in order to be able to run within any OpenGL engine that doesn't do so. 
+// Note that this implementation is little overcomplicated because we are saving/setting up/restoring every OpenGL state explicitly.
+// This is in order to be able to run within an OpenGL engine that doesn't do so.
 void    ImGui_ImplOpenGL3_RenderDrawData(ImDrawData* draw_data)
 {
     // Avoid rendering when minimized, scale coordinates for retina displays (screen coordinates != framebuffer coordinates)
-    ImGuiIO& io = ImGui::GetIO();
-    int fb_width = (int)(draw_data->DisplaySize.x * io.DisplayFramebufferScale.x);
-    int fb_height = (int)(draw_data->DisplaySize.y * io.DisplayFramebufferScale.y);
+    int fb_width = (int)(draw_data->DisplaySize.x * draw_data->FramebufferScale.x);
+    int fb_height = (int)(draw_data->DisplaySize.y * draw_data->FramebufferScale.y);
     if (fb_width <= 0 || fb_height <= 0)
         return;
-    draw_data->ScaleClipRects(io.DisplayFramebufferScale);
+
+    ImGui_ImplOpenGL3_Data* bd = ImGui_ImplOpenGL3_GetBackendData();
 
     // Backup GL state
     GLenum last_active_texture; glGetIntegerv(GL_ACTIVE_TEXTURE, (GLint*)&last_active_texture);
     glActiveTexture(GL_TEXTURE0);
-    GLint last_program; glGetIntegerv(GL_CURRENT_PROGRAM, &last_program);
-    GLint last_texture; glGetIntegerv(GL_TEXTURE_BINDING_2D, &last_texture);
-    GLint last_sampler; glGetIntegerv(GL_SAMPLER_BINDING, &last_sampler);
-    GLint last_array_buffer; glGetIntegerv(GL_ARRAY_BUFFER_BINDING, &last_array_buffer);
-    GLint last_vertex_array; glGetIntegerv(GL_VERTEX_ARRAY_BINDING, &last_vertex_array);
+    GLuint last_program; glGetIntegerv(GL_CURRENT_PROGRAM, (GLint*)&last_program);
+    GLuint last_texture; glGetIntegerv(GL_TEXTURE_BINDING_2D, (GLint*)&last_texture);
+#ifdef IMGUI_IMPL_OPENGL_MAY_HAVE_BIND_SAMPLER
+    GLuint last_sampler; if (bd->GlVersion >= 330) { glGetIntegerv(GL_SAMPLER_BINDING, (GLint*)&last_sampler); } else { last_sampler = 0; }
+#endif
+    GLuint last_array_buffer; glGetIntegerv(GL_ARRAY_BUFFER_BINDING, (GLint*)&last_array_buffer);
+#ifndef IMGUI_IMPL_OPENGL_USE_VERTEX_ARRAY
+    // This is part of VAO on OpenGL 3.0+ and OpenGL ES 3.0+.
+    GLint last_element_array_buffer; glGetIntegerv(GL_ELEMENT_ARRAY_BUFFER_BINDING, &last_element_array_buffer);
+    ImGui_ImplOpenGL3_VtxAttribState last_vtx_attrib_state_pos; last_vtx_attrib_state_pos.GetState(bd->AttribLocationVtxPos);
+    ImGui_ImplOpenGL3_VtxAttribState last_vtx_attrib_state_uv; last_vtx_attrib_state_uv.GetState(bd->AttribLocationVtxUV);
+    ImGui_ImplOpenGL3_VtxAttribState last_vtx_attrib_state_color; last_vtx_attrib_state_color.GetState(bd->AttribLocationVtxColor);
+#endif
+#ifdef IMGUI_IMPL_OPENGL_USE_VERTEX_ARRAY
+    GLuint last_vertex_array_object; glGetIntegerv(GL_VERTEX_ARRAY_BINDING, (GLint*)&last_vertex_array_object);
+#endif
+#ifdef IMGUI_IMPL_HAS_POLYGON_MODE
     GLint last_polygon_mode[2]; glGetIntegerv(GL_POLYGON_MODE, last_polygon_mode);
+#endif
     GLint last_viewport[4]; glGetIntegerv(GL_VIEWPORT, last_viewport);
     GLint last_scissor_box[4]; glGetIntegerv(GL_SCISSOR_BOX, last_scissor_box);
     GLenum last_blend_src_rgb; glGetIntegerv(GL_BLEND_SRC_RGB, (GLint*)&last_blend_src_rgb);
@@ -94,126 +459,159 @@ void    ImGui_ImplOpenGL3_RenderDrawData(ImDrawData* draw_data)
     GLboolean last_enable_blend = glIsEnabled(GL_BLEND);
     GLboolean last_enable_cull_face = glIsEnabled(GL_CULL_FACE);
     GLboolean last_enable_depth_test = glIsEnabled(GL_DEPTH_TEST);
+    GLboolean last_enable_stencil_test = glIsEnabled(GL_STENCIL_TEST);
     GLboolean last_enable_scissor_test = glIsEnabled(GL_SCISSOR_TEST);
+#ifdef IMGUI_IMPL_OPENGL_MAY_HAVE_PRIMITIVE_RESTART
+    GLboolean last_enable_primitive_restart = (bd->GlVersion >= 310) ? glIsEnabled(GL_PRIMITIVE_RESTART) : GL_FALSE;
+#endif
 
-    // Setup render state: alpha-blending enabled, no face culling, no depth testing, scissor enabled, polygon fill
-    glEnable(GL_BLEND);
-    glBlendEquation(GL_FUNC_ADD);
-    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-    glDisable(GL_CULL_FACE);
-    glDisable(GL_DEPTH_TEST);
-    glEnable(GL_SCISSOR_TEST);
-    glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
+    // Setup desired GL state
+    // Recreate the VAO every time (this is to easily allow multiple GL contexts to be rendered to. VAO are not shared among GL contexts)
+    // The renderer would actually work without any VAO bound, but then our VertexAttrib calls would overwrite the default one currently bound.
+    GLuint vertex_array_object = 0;
+#ifdef IMGUI_IMPL_OPENGL_USE_VERTEX_ARRAY
+    glGenVertexArrays(1, &vertex_array_object);
+#endif
+    ImGui_ImplOpenGL3_SetupRenderState(draw_data, fb_width, fb_height, vertex_array_object);
 
-    // Setup viewport, orthographic projection matrix
-    // Our visible imgui space lies from draw_data->DisplayPps (top left) to draw_data->DisplayPos+data_data->DisplaySize (bottom right). DisplayMin is typically (0,0) for single viewport apps.
-    glViewport(0, 0, (GLsizei)fb_width, (GLsizei)fb_height);
-    float L = draw_data->DisplayPos.x;
-    float R = draw_data->DisplayPos.x + draw_data->DisplaySize.x;
-    float T = draw_data->DisplayPos.y;
-    float B = draw_data->DisplayPos.y + draw_data->DisplaySize.y;
-    const float ortho_projection[4][4] =
-    {
-        { 2.0f/(R-L),   0.0f,         0.0f,   0.0f },
-        { 0.0f,         2.0f/(T-B),   0.0f,   0.0f },
-        { 0.0f,         0.0f,        -1.0f,   0.0f },
-        { (R+L)/(L-R),  (T+B)/(B-T),  0.0f,   1.0f },
-    };
-    glUseProgram(g_ShaderHandle);
-    glUniform1i(g_AttribLocationTex, 0);
-    glUniformMatrix4fv(g_AttribLocationProjMtx, 1, GL_FALSE, &ortho_projection[0][0]);
-    if (glBindSampler) glBindSampler(0, 0); // We use combined texture/sampler state. Applications using GL 3.3 may set that otherwise.
+    // Will project scissor/clipping rectangles into framebuffer space
+    ImVec2 clip_off = draw_data->DisplayPos;         // (0,0) unless using multi-viewports
+    ImVec2 clip_scale = draw_data->FramebufferScale; // (1,1) unless using retina display which are often (2,2)
 
-    // Recreate the VAO every time 
-    // (This is to easily allow multiple GL contexts. VAO are not shared among GL contexts, and we don't track creation/deletion of windows so we don't have an obvious key to use to cache them.)
-    GLuint vao_handle = 0;
-    glGenVertexArrays(1, &vao_handle);
-    glBindVertexArray(vao_handle);
-    glBindBuffer(GL_ARRAY_BUFFER, g_VboHandle);
-    glEnableVertexAttribArray(g_AttribLocationPosition);
-    glEnableVertexAttribArray(g_AttribLocationUV);
-    glEnableVertexAttribArray(g_AttribLocationColor);
-    glVertexAttribPointer(g_AttribLocationPosition, 2, GL_FLOAT, GL_FALSE, sizeof(ImDrawVert), (GLvoid*)IM_OFFSETOF(ImDrawVert, pos));
-    glVertexAttribPointer(g_AttribLocationUV, 2, GL_FLOAT, GL_FALSE, sizeof(ImDrawVert), (GLvoid*)IM_OFFSETOF(ImDrawVert, uv));
-    glVertexAttribPointer(g_AttribLocationColor, 4, GL_UNSIGNED_BYTE, GL_TRUE, sizeof(ImDrawVert), (GLvoid*)IM_OFFSETOF(ImDrawVert, col));
-
-    // Draw
-    ImVec2 pos = draw_data->DisplayPos;
+    // Render command lists
     for (int n = 0; n < draw_data->CmdListsCount; n++)
     {
         const ImDrawList* cmd_list = draw_data->CmdLists[n];
-        const ImDrawIdx* idx_buffer_offset = 0;
 
-        glBindBuffer(GL_ARRAY_BUFFER, g_VboHandle);
-        glBufferData(GL_ARRAY_BUFFER, (GLsizeiptr)cmd_list->VtxBuffer.Size * sizeof(ImDrawVert), (const GLvoid*)cmd_list->VtxBuffer.Data, GL_STREAM_DRAW);
-
-        glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, g_ElementsHandle);
-        glBufferData(GL_ELEMENT_ARRAY_BUFFER, (GLsizeiptr)cmd_list->IdxBuffer.Size * sizeof(ImDrawIdx), (const GLvoid*)cmd_list->IdxBuffer.Data, GL_STREAM_DRAW);
+        // Upload vertex/index buffers
+        // - On Intel windows drivers we got reports that regular glBufferData() led to accumulating leaks when using multi-viewports, so we started using orphaning + glBufferSubData(). (See https://github.com/ocornut/imgui/issues/4468)
+        // - On NVIDIA drivers we got reports that using orphaning + glBufferSubData() led to glitches when using multi-viewports.
+        // - OpenGL drivers are in a very sorry state in 2022, for now we are switching code path based on vendors.
+        const GLsizeiptr vtx_buffer_size = (GLsizeiptr)cmd_list->VtxBuffer.Size * (int)sizeof(ImDrawVert);
+        const GLsizeiptr idx_buffer_size = (GLsizeiptr)cmd_list->IdxBuffer.Size * (int)sizeof(ImDrawIdx);
+        if (bd->UseBufferSubData)
+        {
+            if (bd->VertexBufferSize < vtx_buffer_size)
+            {
+                bd->VertexBufferSize = vtx_buffer_size;
+                glBufferData(GL_ARRAY_BUFFER, bd->VertexBufferSize, NULL, GL_STREAM_DRAW);
+            }
+            if (bd->IndexBufferSize < idx_buffer_size)
+            {
+                bd->IndexBufferSize = idx_buffer_size;
+                glBufferData(GL_ELEMENT_ARRAY_BUFFER, bd->IndexBufferSize, NULL, GL_STREAM_DRAW);
+            }
+            glBufferSubData(GL_ARRAY_BUFFER, 0, vtx_buffer_size, (const GLvoid*)cmd_list->VtxBuffer.Data);
+            glBufferSubData(GL_ELEMENT_ARRAY_BUFFER, 0, idx_buffer_size, (const GLvoid*)cmd_list->IdxBuffer.Data);
+        }
+        else
+        {
+            glBufferData(GL_ARRAY_BUFFER, vtx_buffer_size, (const GLvoid*)cmd_list->VtxBuffer.Data, GL_STREAM_DRAW);
+            glBufferData(GL_ELEMENT_ARRAY_BUFFER, idx_buffer_size, (const GLvoid*)cmd_list->IdxBuffer.Data, GL_STREAM_DRAW);
+        }
 
         for (int cmd_i = 0; cmd_i < cmd_list->CmdBuffer.Size; cmd_i++)
         {
             const ImDrawCmd* pcmd = &cmd_list->CmdBuffer[cmd_i];
-            if (pcmd->UserCallback)
+            if (pcmd->UserCallback != NULL)
             {
-                // User callback (registered via ImDrawList::AddCallback)
-                pcmd->UserCallback(cmd_list, pcmd);
+                // User callback, registered via ImDrawList::AddCallback()
+                // (ImDrawCallback_ResetRenderState is a special callback value used by the user to request the renderer to reset render state.)
+                if (pcmd->UserCallback == ImDrawCallback_ResetRenderState)
+                    ImGui_ImplOpenGL3_SetupRenderState(draw_data, fb_width, fb_height, vertex_array_object);
+                else
+                    pcmd->UserCallback(cmd_list, pcmd);
             }
             else
             {
-                ImVec4 clip_rect = ImVec4(pcmd->ClipRect.x - pos.x, pcmd->ClipRect.y - pos.y, pcmd->ClipRect.z - pos.x, pcmd->ClipRect.w - pos.y);
-                if (clip_rect.x < fb_width && clip_rect.y < fb_height && clip_rect.z >= 0.0f && clip_rect.w >= 0.0f)
-                {
-                    // Apply scissor/clipping rectangle
-                    glScissor((int)clip_rect.x, (int)(fb_height - clip_rect.w), (int)(clip_rect.z - clip_rect.x), (int)(clip_rect.w - clip_rect.y));
+                // Project scissor/clipping rectangles into framebuffer space
+                ImVec2 clip_min((pcmd->ClipRect.x - clip_off.x) * clip_scale.x, (pcmd->ClipRect.y - clip_off.y) * clip_scale.y);
+                ImVec2 clip_max((pcmd->ClipRect.z - clip_off.x) * clip_scale.x, (pcmd->ClipRect.w - clip_off.y) * clip_scale.y);
+                if (clip_max.x <= clip_min.x || clip_max.y <= clip_min.y)
+                    continue;
 
-                    // Bind texture, Draw
-                    glBindTexture(GL_TEXTURE_2D, (GLuint)(intptr_t)pcmd->TextureId);
-                    glDrawElements(GL_TRIANGLES, (GLsizei)pcmd->ElemCount, sizeof(ImDrawIdx) == 2 ? GL_UNSIGNED_SHORT : GL_UNSIGNED_INT, idx_buffer_offset);
-                }
+                // Apply scissor/clipping rectangle (Y is inverted in OpenGL)
+                glScissor((int)clip_min.x, (int)((float)fb_height - clip_max.y), (int)(clip_max.x - clip_min.x), (int)(clip_max.y - clip_min.y));
+
+                // Bind texture, Draw
+                glBindTexture(GL_TEXTURE_2D, (GLuint)(intptr_t)pcmd->GetTexID());
+#ifdef IMGUI_IMPL_OPENGL_MAY_HAVE_VTX_OFFSET
+                if (bd->GlVersion >= 320)
+                    glDrawElementsBaseVertex(GL_TRIANGLES, (GLsizei)pcmd->ElemCount, sizeof(ImDrawIdx) == 2 ? GL_UNSIGNED_SHORT : GL_UNSIGNED_INT, (void*)(intptr_t)(pcmd->IdxOffset * sizeof(ImDrawIdx)), (GLint)pcmd->VtxOffset);
+                else
+#endif
+                glDrawElements(GL_TRIANGLES, (GLsizei)pcmd->ElemCount, sizeof(ImDrawIdx) == 2 ? GL_UNSIGNED_SHORT : GL_UNSIGNED_INT, (void*)(intptr_t)(pcmd->IdxOffset * sizeof(ImDrawIdx)));
             }
-            idx_buffer_offset += pcmd->ElemCount;
         }
     }
-    glDeleteVertexArrays(1, &vao_handle);
+
+    // Destroy the temporary VAO
+#ifdef IMGUI_IMPL_OPENGL_USE_VERTEX_ARRAY
+    glDeleteVertexArrays(1, &vertex_array_object);
+#endif
 
     // Restore modified GL state
     glUseProgram(last_program);
     glBindTexture(GL_TEXTURE_2D, last_texture);
-    if (glBindSampler) glBindSampler(0, last_sampler);
+#ifdef IMGUI_IMPL_OPENGL_MAY_HAVE_BIND_SAMPLER
+    if (bd->GlVersion >= 330)
+        glBindSampler(0, last_sampler);
+#endif
     glActiveTexture(last_active_texture);
-    glBindVertexArray(last_vertex_array);
+#ifdef IMGUI_IMPL_OPENGL_USE_VERTEX_ARRAY
+    glBindVertexArray(last_vertex_array_object);
+#endif
     glBindBuffer(GL_ARRAY_BUFFER, last_array_buffer);
+#ifndef IMGUI_IMPL_OPENGL_USE_VERTEX_ARRAY
+    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, last_element_array_buffer);
+    last_vtx_attrib_state_pos.SetState(bd->AttribLocationVtxPos);
+    last_vtx_attrib_state_uv.SetState(bd->AttribLocationVtxUV);
+    last_vtx_attrib_state_color.SetState(bd->AttribLocationVtxColor);
+#endif
     glBlendEquationSeparate(last_blend_equation_rgb, last_blend_equation_alpha);
     glBlendFuncSeparate(last_blend_src_rgb, last_blend_dst_rgb, last_blend_src_alpha, last_blend_dst_alpha);
     if (last_enable_blend) glEnable(GL_BLEND); else glDisable(GL_BLEND);
     if (last_enable_cull_face) glEnable(GL_CULL_FACE); else glDisable(GL_CULL_FACE);
     if (last_enable_depth_test) glEnable(GL_DEPTH_TEST); else glDisable(GL_DEPTH_TEST);
+    if (last_enable_stencil_test) glEnable(GL_STENCIL_TEST); else glDisable(GL_STENCIL_TEST);
     if (last_enable_scissor_test) glEnable(GL_SCISSOR_TEST); else glDisable(GL_SCISSOR_TEST);
+#ifdef IMGUI_IMPL_OPENGL_MAY_HAVE_PRIMITIVE_RESTART
+    if (bd->GlVersion >= 310) { if (last_enable_primitive_restart) glEnable(GL_PRIMITIVE_RESTART); else glDisable(GL_PRIMITIVE_RESTART); }
+#endif
+
+#ifdef IMGUI_IMPL_HAS_POLYGON_MODE
     glPolygonMode(GL_FRONT_AND_BACK, (GLenum)last_polygon_mode[0]);
+#endif
     glViewport(last_viewport[0], last_viewport[1], (GLsizei)last_viewport[2], (GLsizei)last_viewport[3]);
     glScissor(last_scissor_box[0], last_scissor_box[1], (GLsizei)last_scissor_box[2], (GLsizei)last_scissor_box[3]);
+    (void)bd; // Not all compilation paths use this
 }
 
 bool ImGui_ImplOpenGL3_CreateFontsTexture()
 {
-    // Build texture atlas
     ImGuiIO& io = ImGui::GetIO();
+    ImGui_ImplOpenGL3_Data* bd = ImGui_ImplOpenGL3_GetBackendData();
+
+    // Build texture atlas
     unsigned char* pixels;
     int width, height;
-    io.Fonts->GetTexDataAsRGBA32(&pixels, &width, &height);   // Load as RGBA 32-bits (75% of the memory is wasted, but default font is so small) because it is more likely to be compatible with user's existing shaders. If your ImTextureId represent a higher-level concept than just a GL texture id, consider calling GetTexDataAsAlpha8() instead to save on GPU memory.
+    io.Fonts->GetTexDataAsRGBA32(&pixels, &width, &height);   // Load as RGBA 32-bit (75% of the memory is wasted, but default font is so small) because it is more likely to be compatible with user's existing shaders. If your ImTextureId represent a higher-level concept than just a GL texture id, consider calling GetTexDataAsAlpha8() instead to save on GPU memory.
 
     // Upload texture to graphics system
+    // (Bilinear sampling is required by default. Set 'io.Fonts->Flags |= ImFontAtlasFlags_NoBakedLines' or 'style.AntiAliasedLinesUseTex = false' to allow point/nearest sampling)
     GLint last_texture;
     glGetIntegerv(GL_TEXTURE_BINDING_2D, &last_texture);
-    glGenTextures(1, &g_FontTexture);
-    glBindTexture(GL_TEXTURE_2D, g_FontTexture);
+    glGenTextures(1, &bd->FontTexture);
+    glBindTexture(GL_TEXTURE_2D, bd->FontTexture);
     glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
     glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+#ifdef GL_UNPACK_ROW_LENGTH // Not on WebGL/ES
     glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
+#endif
     glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, width, height, 0, GL_RGBA, GL_UNSIGNED_BYTE, pixels);
 
     // Store our identifier
-    io.Fonts->TexID = (void *)(intptr_t)g_FontTexture;
+    io.Fonts->SetTexID((ImTextureID)(intptr_t)bd->FontTexture);
 
     // Restore state
     glBindTexture(GL_TEXTURE_2D, last_texture);
@@ -223,25 +621,86 @@ bool ImGui_ImplOpenGL3_CreateFontsTexture()
 
 void ImGui_ImplOpenGL3_DestroyFontsTexture()
 {
-    if (g_FontTexture)
+    ImGuiIO& io = ImGui::GetIO();
+    ImGui_ImplOpenGL3_Data* bd = ImGui_ImplOpenGL3_GetBackendData();
+    if (bd->FontTexture)
     {
-        ImGuiIO& io = ImGui::GetIO();
-        glDeleteTextures(1, &g_FontTexture);
-        io.Fonts->TexID = 0;
-        g_FontTexture = 0;
+        glDeleteTextures(1, &bd->FontTexture);
+        io.Fonts->SetTexID(0);
+        bd->FontTexture = 0;
     }
 }
 
+// If you get an error please report on github. You may try different GL context version or GLSL version. See GL<>GLSL version table at the top of this file.
+static bool CheckShader(GLuint handle, const char* desc)
+{
+    ImGui_ImplOpenGL3_Data* bd = ImGui_ImplOpenGL3_GetBackendData();
+    GLint status = 0, log_length = 0;
+    glGetShaderiv(handle, GL_COMPILE_STATUS, &status);
+    glGetShaderiv(handle, GL_INFO_LOG_LENGTH, &log_length);
+    if ((GLboolean)status == GL_FALSE)
+        fprintf(stderr, "ERROR: ImGui_ImplOpenGL3_CreateDeviceObjects: failed to compile %s! With GLSL: %s\n", desc, bd->GlslVersionString);
+    if (log_length > 1)
+    {
+        ImVector<char> buf;
+        buf.resize((int)(log_length + 1));
+        glGetShaderInfoLog(handle, log_length, NULL, (GLchar*)buf.begin());
+        fprintf(stderr, "%s\n", buf.begin());
+    }
+    return (GLboolean)status == GL_TRUE;
+}
+
+// If you get an error please report on GitHub. You may try different GL context version or GLSL version.
+static bool CheckProgram(GLuint handle, const char* desc)
+{
+    ImGui_ImplOpenGL3_Data* bd = ImGui_ImplOpenGL3_GetBackendData();
+    GLint status = 0, log_length = 0;
+    glGetProgramiv(handle, GL_LINK_STATUS, &status);
+    glGetProgramiv(handle, GL_INFO_LOG_LENGTH, &log_length);
+    if ((GLboolean)status == GL_FALSE)
+        fprintf(stderr, "ERROR: ImGui_ImplOpenGL3_CreateDeviceObjects: failed to link %s! With GLSL %s\n", desc, bd->GlslVersionString);
+    if (log_length > 1)
+    {
+        ImVector<char> buf;
+        buf.resize((int)(log_length + 1));
+        glGetProgramInfoLog(handle, log_length, NULL, (GLchar*)buf.begin());
+        fprintf(stderr, "%s\n", buf.begin());
+    }
+    return (GLboolean)status == GL_TRUE;
+}
+
 bool    ImGui_ImplOpenGL3_CreateDeviceObjects()
 {
+    ImGui_ImplOpenGL3_Data* bd = ImGui_ImplOpenGL3_GetBackendData();
+
     // Backup GL state
-    GLint last_texture, last_array_buffer, last_vertex_array;
+    GLint last_texture, last_array_buffer;
     glGetIntegerv(GL_TEXTURE_BINDING_2D, &last_texture);
     glGetIntegerv(GL_ARRAY_BUFFER_BINDING, &last_array_buffer);
+#ifdef IMGUI_IMPL_OPENGL_USE_VERTEX_ARRAY
+    GLint last_vertex_array;
     glGetIntegerv(GL_VERTEX_ARRAY_BINDING, &last_vertex_array);
+#endif
 
-    // Create shaders
-    const GLchar *vertex_shader =
+    // Parse GLSL version string
+    int glsl_version = 130;
+    sscanf(bd->GlslVersionString, "#version %d", &glsl_version);
+
+    const GLchar* vertex_shader_glsl_120 =
+        "uniform mat4 ProjMtx;\n"
+        "attribute vec2 Position;\n"
+        "attribute vec2 UV;\n"
+        "attribute vec4 Color;\n"
+        "varying vec2 Frag_UV;\n"
+        "varying vec4 Frag_Color;\n"
+        "void main()\n"
+        "{\n"
+        "    Frag_UV = UV;\n"
+        "    Frag_Color = Color;\n"
+        "    gl_Position = ProjMtx * vec4(Position.xy,0,1);\n"
+        "}\n";
+
+    const GLchar* vertex_shader_glsl_130 =
         "uniform mat4 ProjMtx;\n"
         "in vec2 Position;\n"
         "in vec2 UV;\n"
@@ -250,70 +709,163 @@ bool    ImGui_ImplOpenGL3_CreateDeviceObjects()
         "out vec4 Frag_Color;\n"
         "void main()\n"
         "{\n"
-        "	Frag_UV = UV;\n"
-        "	Frag_Color = Color;\n"
-        "	gl_Position = ProjMtx * vec4(Position.xy,0,1);\n"
+        "    Frag_UV = UV;\n"
+        "    Frag_Color = Color;\n"
+        "    gl_Position = ProjMtx * vec4(Position.xy,0,1);\n"
         "}\n";
 
-    const GLchar* fragment_shader =
+    const GLchar* vertex_shader_glsl_300_es =
+        "precision highp float;\n"
+        "layout (location = 0) in vec2 Position;\n"
+        "layout (location = 1) in vec2 UV;\n"
+        "layout (location = 2) in vec4 Color;\n"
+        "uniform mat4 ProjMtx;\n"
+        "out vec2 Frag_UV;\n"
+        "out vec4 Frag_Color;\n"
+        "void main()\n"
+        "{\n"
+        "    Frag_UV = UV;\n"
+        "    Frag_Color = Color;\n"
+        "    gl_Position = ProjMtx * vec4(Position.xy,0,1);\n"
+        "}\n";
+
+    const GLchar* vertex_shader_glsl_410_core =
+        "layout (location = 0) in vec2 Position;\n"
+        "layout (location = 1) in vec2 UV;\n"
+        "layout (location = 2) in vec4 Color;\n"
+        "uniform mat4 ProjMtx;\n"
+        "out vec2 Frag_UV;\n"
+        "out vec4 Frag_Color;\n"
+        "void main()\n"
+        "{\n"
+        "    Frag_UV = UV;\n"
+        "    Frag_Color = Color;\n"
+        "    gl_Position = ProjMtx * vec4(Position.xy,0,1);\n"
+        "}\n";
+
+    const GLchar* fragment_shader_glsl_120 =
+        "#ifdef GL_ES\n"
+        "    precision mediump float;\n"
+        "#endif\n"
+        "uniform sampler2D Texture;\n"
+        "varying vec2 Frag_UV;\n"
+        "varying vec4 Frag_Color;\n"
+        "void main()\n"
+        "{\n"
+        "    gl_FragColor = Frag_Color * texture2D(Texture, Frag_UV.st);\n"
+        "}\n";
+
+    const GLchar* fragment_shader_glsl_130 =
         "uniform sampler2D Texture;\n"
         "in vec2 Frag_UV;\n"
         "in vec4 Frag_Color;\n"
-        "layout(location = 0) out vec4 Out_Color;\n"
+        "out vec4 Out_Color;\n"
         "void main()\n"
         "{\n"
-        "	Out_Color = Frag_Color * texture( Texture, Frag_UV.st);\n"
+        "    Out_Color = Frag_Color * texture(Texture, Frag_UV.st);\n"
         "}\n";
 
-    const GLchar* vertex_shader_with_version[2] = { g_GlslVersion, vertex_shader };
-    const GLchar* fragment_shader_with_version[2] = { g_GlslVersion, fragment_shader };
+    const GLchar* fragment_shader_glsl_300_es =
+        "precision mediump float;\n"
+        "uniform sampler2D Texture;\n"
+        "in vec2 Frag_UV;\n"
+        "in vec4 Frag_Color;\n"
+        "layout (location = 0) out vec4 Out_Color;\n"
+        "void main()\n"
+        "{\n"
+        "    Out_Color = Frag_Color * texture(Texture, Frag_UV.st);\n"
+        "}\n";
 
-    g_ShaderHandle = glCreateProgram();
-    g_VertHandle = glCreateShader(GL_VERTEX_SHADER);
-    g_FragHandle = glCreateShader(GL_FRAGMENT_SHADER);
-    glShaderSource(g_VertHandle, 2, vertex_shader_with_version, NULL);
-    glShaderSource(g_FragHandle, 2, fragment_shader_with_version, NULL);
-    glCompileShader(g_VertHandle);
-    glCompileShader(g_FragHandle);
-    glAttachShader(g_ShaderHandle, g_VertHandle);
-    glAttachShader(g_ShaderHandle, g_FragHandle);
-    glLinkProgram(g_ShaderHandle);
+    const GLchar* fragment_shader_glsl_410_core =
+        "in vec2 Frag_UV;\n"
+        "in vec4 Frag_Color;\n"
+        "uniform sampler2D Texture;\n"
+        "layout (location = 0) out vec4 Out_Color;\n"
+        "void main()\n"
+        "{\n"
+        "    Out_Color = Frag_Color * texture(Texture, Frag_UV.st);\n"
+        "}\n";
 
-    g_AttribLocationTex = glGetUniformLocation(g_ShaderHandle, "Texture");
-    g_AttribLocationProjMtx = glGetUniformLocation(g_ShaderHandle, "ProjMtx");
-    g_AttribLocationPosition = glGetAttribLocation(g_ShaderHandle, "Position");
-    g_AttribLocationUV = glGetAttribLocation(g_ShaderHandle, "UV");
-    g_AttribLocationColor = glGetAttribLocation(g_ShaderHandle, "Color");
+    // Select shaders matching our GLSL versions
+    const GLchar* vertex_shader = NULL;
+    const GLchar* fragment_shader = NULL;
+    if (glsl_version < 130)
+    {
+        vertex_shader = vertex_shader_glsl_120;
+        fragment_shader = fragment_shader_glsl_120;
+    }
+    else if (glsl_version >= 410)
+    {
+        vertex_shader = vertex_shader_glsl_410_core;
+        fragment_shader = fragment_shader_glsl_410_core;
+    }
+    else if (glsl_version == 300)
+    {
+        vertex_shader = vertex_shader_glsl_300_es;
+        fragment_shader = fragment_shader_glsl_300_es;
+    }
+    else
+    {
+        vertex_shader = vertex_shader_glsl_130;
+        fragment_shader = fragment_shader_glsl_130;
+    }
 
-    glGenBuffers(1, &g_VboHandle);
-    glGenBuffers(1, &g_ElementsHandle);
+    // Create shaders
+    const GLchar* vertex_shader_with_version[2] = { bd->GlslVersionString, vertex_shader };
+    GLuint vert_handle = glCreateShader(GL_VERTEX_SHADER);
+    glShaderSource(vert_handle, 2, vertex_shader_with_version, NULL);
+    glCompileShader(vert_handle);
+    CheckShader(vert_handle, "vertex shader");
+
+    const GLchar* fragment_shader_with_version[2] = { bd->GlslVersionString, fragment_shader };
+    GLuint frag_handle = glCreateShader(GL_FRAGMENT_SHADER);
+    glShaderSource(frag_handle, 2, fragment_shader_with_version, NULL);
+    glCompileShader(frag_handle);
+    CheckShader(frag_handle, "fragment shader");
+
+    // Link
+    bd->ShaderHandle = glCreateProgram();
+    glAttachShader(bd->ShaderHandle, vert_handle);
+    glAttachShader(bd->ShaderHandle, frag_handle);
+    glLinkProgram(bd->ShaderHandle);
+    CheckProgram(bd->ShaderHandle, "shader program");
+
+    glDetachShader(bd->ShaderHandle, vert_handle);
+    glDetachShader(bd->ShaderHandle, frag_handle);
+    glDeleteShader(vert_handle);
+    glDeleteShader(frag_handle);
+
+    bd->AttribLocationTex = glGetUniformLocation(bd->ShaderHandle, "Texture");
+    bd->AttribLocationProjMtx = glGetUniformLocation(bd->ShaderHandle, "ProjMtx");
+    bd->AttribLocationVtxPos = (GLuint)glGetAttribLocation(bd->ShaderHandle, "Position");
+    bd->AttribLocationVtxUV = (GLuint)glGetAttribLocation(bd->ShaderHandle, "UV");
+    bd->AttribLocationVtxColor = (GLuint)glGetAttribLocation(bd->ShaderHandle, "Color");
+
+    // Create buffers
+    glGenBuffers(1, &bd->VboHandle);
+    glGenBuffers(1, &bd->ElementsHandle);
 
     ImGui_ImplOpenGL3_CreateFontsTexture();
 
     // Restore modified GL state
     glBindTexture(GL_TEXTURE_2D, last_texture);
     glBindBuffer(GL_ARRAY_BUFFER, last_array_buffer);
+#ifdef IMGUI_IMPL_OPENGL_USE_VERTEX_ARRAY
     glBindVertexArray(last_vertex_array);
+#endif
 
     return true;
 }
 
 void    ImGui_ImplOpenGL3_DestroyDeviceObjects()
 {
-    if (g_VboHandle) glDeleteBuffers(1, &g_VboHandle);
-    if (g_ElementsHandle) glDeleteBuffers(1, &g_ElementsHandle);
-    g_VboHandle = g_ElementsHandle = 0;
-
-    if (g_ShaderHandle && g_VertHandle) glDetachShader(g_ShaderHandle, g_VertHandle);
-    if (g_VertHandle) glDeleteShader(g_VertHandle);
-    g_VertHandle = 0;
-
-    if (g_ShaderHandle && g_FragHandle) glDetachShader(g_ShaderHandle, g_FragHandle);
-    if (g_FragHandle) glDeleteShader(g_FragHandle);
-    g_FragHandle = 0;
-
-    if (g_ShaderHandle) glDeleteProgram(g_ShaderHandle);
-    g_ShaderHandle = 0;
-
+    ImGui_ImplOpenGL3_Data* bd = ImGui_ImplOpenGL3_GetBackendData();
+    if (bd->VboHandle)      { glDeleteBuffers(1, &bd->VboHandle); bd->VboHandle = 0; }
+    if (bd->ElementsHandle) { glDeleteBuffers(1, &bd->ElementsHandle); bd->ElementsHandle = 0; }
+    if (bd->ShaderHandle)   { glDeleteProgram(bd->ShaderHandle); bd->ShaderHandle = 0; }
     ImGui_ImplOpenGL3_DestroyFontsTexture();
 }
+
+#if defined(__clang__)
+#pragma clang diagnostic pop
+#endif

lib/imgui/imgui_impl_opengl3.h

@@ -1,21 +1,55 @@
-// ImGui Renderer for: OpenGL3 (modern OpenGL with shaders / programmatic pipeline)
-// This needs to be used along with a Platform Binding (e.g. GLFW, SDL, Win32, custom..)
-// (Note: We are using GL3W as a helper library to access OpenGL functions since there is no standard header to access modern OpenGL functions easily. Alternatives are GLEW, Glad, etc..)
+// dear imgui: Renderer Backend for modern OpenGL with shaders / programmatic pipeline
+// - Desktop GL: 2.x 3.x 4.x
+// - Embedded GL: ES 2.0 (WebGL 1.0), ES 3.0 (WebGL 2.0)
+// This needs to be used along with a Platform Backend (e.g. GLFW, SDL, Win32, custom..)
 
 // Implemented features:
-//  [X] Renderer: User texture binding. Use 'GLuint' OpenGL texture identifier as void*/ImTextureID. Read the FAQ about ImTextureID in imgui.cpp.
+//  [X] Renderer: User texture binding. Use 'GLuint' OpenGL texture identifier as void*/ImTextureID. Read the FAQ about ImTextureID!
+//  [x] Renderer: Desktop GL only: Support for large meshes (64k+ vertices) with 16-bit indices.
+
+// You can use unmodified imgui_impl_* files in your project. See examples/ folder for examples of using this.
+// Prefer including the entire imgui/ repository into your project (either as a copy or as a submodule), and only build the backends you need.
+// If you are new to Dear ImGui, read documentation from the docs/ folder + read the top of imgui.cpp.
+// Read online: https://github.com/ocornut/imgui/tree/master/docs
 
 // About GLSL version:
-// The 'glsl_version' initialization parameter defaults to "#version 150" if NULL.
-// Only override if your GL version doesn't handle this GLSL version. Keep NULL if unsure!
+//  The 'glsl_version' initialization parameter should be NULL (default) or a "#version XXX" string.
+//  On computer platform the GLSL version default to "#version 130". On OpenGL ES 3 platform it defaults to "#version 300 es"
+//  Only override if your GL version doesn't handle this GLSL version. See GLSL version table at the top of imgui_impl_opengl3.cpp.
 
-IMGUI_IMPL_API bool     ImGui_ImplOpenGL3_Init(const char* glsl_version = "#version 150");
+#pragma once
+#include "imgui.h"      // IMGUI_IMPL_API
+
+// Backend API
+IMGUI_IMPL_API bool     ImGui_ImplOpenGL3_Init(const char* glsl_version = NULL);
 IMGUI_IMPL_API void     ImGui_ImplOpenGL3_Shutdown();
 IMGUI_IMPL_API void     ImGui_ImplOpenGL3_NewFrame();
 IMGUI_IMPL_API void     ImGui_ImplOpenGL3_RenderDrawData(ImDrawData* draw_data);
 
-// Called by Init/NewFrame/Shutdown
+// (Optional) Called by Init/NewFrame/Shutdown
 IMGUI_IMPL_API bool     ImGui_ImplOpenGL3_CreateFontsTexture();
 IMGUI_IMPL_API void     ImGui_ImplOpenGL3_DestroyFontsTexture();
 IMGUI_IMPL_API bool     ImGui_ImplOpenGL3_CreateDeviceObjects();
 IMGUI_IMPL_API void     ImGui_ImplOpenGL3_DestroyDeviceObjects();
+
+// Specific OpenGL ES versions
+//#define IMGUI_IMPL_OPENGL_ES2     // Auto-detected on Emscripten
+//#define IMGUI_IMPL_OPENGL_ES3     // Auto-detected on iOS/Android
+
+// You can explicitly select GLES2 or GLES3 API by using one of the '#define IMGUI_IMPL_OPENGL_LOADER_XXX' in imconfig.h or compiler command-line.
+#if !defined(IMGUI_IMPL_OPENGL_ES2) \
+ && !defined(IMGUI_IMPL_OPENGL_ES3)
+
+// Try to detect GLES on matching platforms
+#if defined(__APPLE__)
+#include <TargetConditionals.h>
+#endif
+#if (defined(__APPLE__) && (TARGET_OS_IOS || TARGET_OS_TV)) || (defined(__ANDROID__))
+#define IMGUI_IMPL_OPENGL_ES3               // iOS, Android  -> GL ES 3, "#version 300 es"
+#elif defined(__EMSCRIPTEN__) || defined(__amigaos4__)
+#define IMGUI_IMPL_OPENGL_ES2               // Emscripten    -> GL ES 2, "#version 100"
+#else
+// Otherwise imgui_impl_opengl3_loader.h will be used.
+#endif
+
+#endif

lib/imgui/imgui_impl_opengl3_loader.h

@@ -0,0 +1,786 @@
+//-----------------------------------------------------------------------------
+// About imgui_impl_opengl3_loader.h:
+//
+// We embed our own OpenGL loader to not require user to provide their own or to have to use ours,
+// which proved to be endless problems for users.
+// Our loader is custom-generated, based on gl3w but automatically filtered to only include
+// enums/functions that we use in our imgui_impl_opengl3.cpp source file in order to be small.
+//
+// YOU SHOULD NOT NEED TO INCLUDE/USE THIS DIRECTLY. THIS IS USED BY imgui_impl_opengl3.cpp ONLY.
+// THE REST OF YOUR APP SHOULD USE A DIFFERENT GL LOADER: ANY GL LOADER OF YOUR CHOICE.
+//
+// Regenerate with:
+//   python gl3w_gen.py --output ../imgui/backends/imgui_impl_opengl3_loader.h --ref ../imgui/backends/imgui_impl_opengl3.cpp ./extra_symbols.txt
+//
+// More info:
+//   https://github.com/dearimgui/gl3w_stripped
+//   https://github.com/ocornut/imgui/issues/4445
+//-----------------------------------------------------------------------------
+
+/*
+ * This file was generated with gl3w_gen.py, part of imgl3w
+ * (hosted at https://github.com/dearimgui/gl3w_stripped)
+ *
+ * This is free and unencumbered software released into the public domain.
+ *
+ * Anyone is free to copy, modify, publish, use, compile, sell, or
+ * distribute this software, either in source code form or as a compiled
+ * binary, for any purpose, commercial or non-commercial, and by any
+ * means.
+ *
+ * In jurisdictions that recognize copyright laws, the author or authors
+ * of this software dedicate any and all copyright interest in the
+ * software to the public domain. We make this dedication for the benefit
+ * of the public at large and to the detriment of our heirs and
+ * successors. We intend this dedication to be an overt act of
+ * relinquishment in perpetuity of all present and future rights to this
+ * software under copyright law.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
+ * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+ * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef __gl3w_h_
+#define __gl3w_h_
+
+// Adapted from KHR/khrplatform.h to avoid including entire file.
+#ifndef __khrplatform_h_
+typedef          float         khronos_float_t;
+typedef signed   char          khronos_int8_t;
+typedef unsigned char          khronos_uint8_t;
+typedef signed   short int     khronos_int16_t;
+typedef unsigned short int     khronos_uint16_t;
+#ifdef _WIN64
+typedef signed   long long int khronos_intptr_t;
+typedef signed   long long int khronos_ssize_t;
+#else
+typedef signed   long  int     khronos_intptr_t;
+typedef signed   long  int     khronos_ssize_t;
+#endif
+
+#if defined(_MSC_VER) && !defined(__clang__)
+typedef signed   __int64       khronos_int64_t;
+typedef unsigned __int64       khronos_uint64_t;
+#elif (defined(__clang__) || defined(__GNUC__)) && (__cplusplus < 201100)
+#include <stdint.h>
+typedef          int64_t       khronos_int64_t;
+typedef          uint64_t      khronos_uint64_t;
+#else
+typedef signed   long long     khronos_int64_t;
+typedef unsigned long long     khronos_uint64_t;
+#endif
+#endif  // __khrplatform_h_
+
+#ifndef __gl_glcorearb_h_
+#define __gl_glcorearb_h_ 1
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+** Copyright 2013-2020 The Khronos Group Inc.
+** SPDX-License-Identifier: MIT
+**
+** This header is generated from the Khronos OpenGL / OpenGL ES XML
+** API Registry. The current version of the Registry, generator scripts
+** used to make the header, and the header can be found at
+**   https://github.com/KhronosGroup/OpenGL-Registry
+*/
+#if defined(_WIN32) && !defined(APIENTRY) && !defined(__CYGWIN__) && !defined(__SCITECH_SNAP__)
+#ifndef WIN32_LEAN_AND_MEAN
+#define WIN32_LEAN_AND_MEAN 1
+#endif
+#include <windows.h>
+#endif
+#ifndef APIENTRY
+#define APIENTRY
+#endif
+#ifndef APIENTRYP
+#define APIENTRYP APIENTRY *
+#endif
+#ifndef GLAPI
+#define GLAPI extern
+#endif
+/* glcorearb.h is for use with OpenGL core profile implementations.
+** It should should be placed in the same directory as gl.h and
+** included as <GL/glcorearb.h>.
+**
+** glcorearb.h includes only APIs in the latest OpenGL core profile
+** implementation together with APIs in newer ARB extensions which 
+** can be supported by the core profile. It does not, and never will
+** include functionality removed from the core profile, such as
+** fixed-function vertex and fragment processing.
+**
+** Do not #include both <GL/glcorearb.h> and either of <GL/gl.h> or
+** <GL/glext.h> in the same source file.
+*/
+/* Generated C header for:
+ * API: gl
+ * Profile: core
+ * Versions considered: .*
+ * Versions emitted: .*
+ * Default extensions included: glcore
+ * Additional extensions included: _nomatch_^
+ * Extensions removed: _nomatch_^
+ */
+#ifndef GL_VERSION_1_0
+typedef void GLvoid;
+typedef unsigned int GLenum;
+
+typedef khronos_float_t GLfloat;
+typedef int GLint;
+typedef int GLsizei;
+typedef unsigned int GLbitfield;
+typedef double GLdouble;
+typedef unsigned int GLuint;
+typedef unsigned char GLboolean;
+typedef khronos_uint8_t GLubyte;
+#define GL_COLOR_BUFFER_BIT               0x00004000
+#define GL_FALSE                          0
+#define GL_TRUE                           1
+#define GL_TRIANGLES                      0x0004
+#define GL_ONE                            1
+#define GL_SRC_ALPHA                      0x0302
+#define GL_ONE_MINUS_SRC_ALPHA            0x0303
+#define GL_FRONT_AND_BACK                 0x0408
+#define GL_POLYGON_MODE                   0x0B40
+#define GL_CULL_FACE                      0x0B44
+#define GL_DEPTH_TEST                     0x0B71
+#define GL_STENCIL_TEST                   0x0B90
+#define GL_VIEWPORT                       0x0BA2
+#define GL_BLEND                          0x0BE2
+#define GL_SCISSOR_BOX                    0x0C10
+#define GL_SCISSOR_TEST                   0x0C11
+#define GL_UNPACK_ROW_LENGTH              0x0CF2
+#define GL_PACK_ALIGNMENT                 0x0D05
+#define GL_TEXTURE_2D                     0x0DE1
+#define GL_UNSIGNED_BYTE                  0x1401
+#define GL_UNSIGNED_SHORT                 0x1403
+#define GL_UNSIGNED_INT                   0x1405
+#define GL_FLOAT                          0x1406
+#define GL_RGBA                           0x1908
+#define GL_FILL                           0x1B02
+#define GL_VENDOR                         0x1F00
+#define GL_RENDERER                       0x1F01
+#define GL_VERSION                        0x1F02
+#define GL_EXTENSIONS                     0x1F03
+#define GL_LINEAR                         0x2601
+#define GL_TEXTURE_MAG_FILTER             0x2800
+#define GL_TEXTURE_MIN_FILTER             0x2801
+typedef void (APIENTRYP PFNGLPOLYGONMODEPROC) (GLenum face, GLenum mode);
+typedef void (APIENTRYP PFNGLSCISSORPROC) (GLint x, GLint y, GLsizei width, GLsizei height);
+typedef void (APIENTRYP PFNGLTEXPARAMETERIPROC) (GLenum target, GLenum pname, GLint param);
+typedef void (APIENTRYP PFNGLTEXIMAGE2DPROC) (GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const void *pixels);
+typedef void (APIENTRYP PFNGLCLEARPROC) (GLbitfield mask);
+typedef void (APIENTRYP PFNGLCLEARCOLORPROC) (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha);
+typedef void (APIENTRYP PFNGLDISABLEPROC) (GLenum cap);
+typedef void (APIENTRYP PFNGLENABLEPROC) (GLenum cap);
+typedef void (APIENTRYP PFNGLFLUSHPROC) (void);
+typedef void (APIENTRYP PFNGLPIXELSTOREIPROC) (GLenum pname, GLint param);
+typedef void (APIENTRYP PFNGLREADPIXELSPROC) (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, void *pixels);
+typedef GLenum (APIENTRYP PFNGLGETERRORPROC) (void);
+typedef void (APIENTRYP PFNGLGETINTEGERVPROC) (GLenum pname, GLint *data);
+typedef const GLubyte *(APIENTRYP PFNGLGETSTRINGPROC) (GLenum name);
+typedef GLboolean (APIENTRYP PFNGLISENABLEDPROC) (GLenum cap);
+typedef void (APIENTRYP PFNGLVIEWPORTPROC) (GLint x, GLint y, GLsizei width, GLsizei height);
+#ifdef GL_GLEXT_PROTOTYPES
+GLAPI void APIENTRY glPolygonMode (GLenum face, GLenum mode);
+GLAPI void APIENTRY glScissor (GLint x, GLint y, GLsizei width, GLsizei height);
+GLAPI void APIENTRY glTexParameteri (GLenum target, GLenum pname, GLint param);
+GLAPI void APIENTRY glTexImage2D (GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const void *pixels);
+GLAPI void APIENTRY glClear (GLbitfield mask);
+GLAPI void APIENTRY glClearColor (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha);
+GLAPI void APIENTRY glDisable (GLenum cap);
+GLAPI void APIENTRY glEnable (GLenum cap);
+GLAPI void APIENTRY glFlush (void);
+GLAPI void APIENTRY glPixelStorei (GLenum pname, GLint param);
+GLAPI void APIENTRY glReadPixels (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, void *pixels);
+GLAPI GLenum APIENTRY glGetError (void);
+GLAPI void APIENTRY glGetIntegerv (GLenum pname, GLint *data);
+GLAPI const GLubyte *APIENTRY glGetString (GLenum name);
+GLAPI GLboolean APIENTRY glIsEnabled (GLenum cap);
+GLAPI void APIENTRY glViewport (GLint x, GLint y, GLsizei width, GLsizei height);
+#endif
+#endif /* GL_VERSION_1_0 */
+#ifndef GL_VERSION_1_1
+typedef khronos_float_t GLclampf;
+typedef double GLclampd;
+#define GL_TEXTURE_BINDING_2D             0x8069
+typedef void (APIENTRYP PFNGLDRAWELEMENTSPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices);
+typedef void (APIENTRYP PFNGLBINDTEXTUREPROC) (GLenum target, GLuint texture);
+typedef void (APIENTRYP PFNGLDELETETEXTURESPROC) (GLsizei n, const GLuint *textures);
+typedef void (APIENTRYP PFNGLGENTEXTURESPROC) (GLsizei n, GLuint *textures);
+#ifdef GL_GLEXT_PROTOTYPES
+GLAPI void APIENTRY glDrawElements (GLenum mode, GLsizei count, GLenum type, const void *indices);
+GLAPI void APIENTRY glBindTexture (GLenum target, GLuint texture);
+GLAPI void APIENTRY glDeleteTextures (GLsizei n, const GLuint *textures);
+GLAPI void APIENTRY glGenTextures (GLsizei n, GLuint *textures);
+#endif
+#endif /* GL_VERSION_1_1 */
+#ifndef GL_VERSION_1_3
+#define GL_TEXTURE0                       0x84C0
+#define GL_ACTIVE_TEXTURE                 0x84E0
+typedef void (APIENTRYP PFNGLACTIVETEXTUREPROC) (GLenum texture);
+#ifdef GL_GLEXT_PROTOTYPES
+GLAPI void APIENTRY glActiveTexture (GLenum texture);
+#endif
+#endif /* GL_VERSION_1_3 */
+#ifndef GL_VERSION_1_4
+#define GL_BLEND_DST_RGB                  0x80C8
+#define GL_BLEND_SRC_RGB                  0x80C9
+#define GL_BLEND_DST_ALPHA                0x80CA
+#define GL_BLEND_SRC_ALPHA                0x80CB
+#define GL_FUNC_ADD                       0x8006
+typedef void (APIENTRYP PFNGLBLENDFUNCSEPARATEPROC) (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha);
+typedef void (APIENTRYP PFNGLBLENDEQUATIONPROC) (GLenum mode);
+#ifdef GL_GLEXT_PROTOTYPES
+GLAPI void APIENTRY glBlendFuncSeparate (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha);
+GLAPI void APIENTRY glBlendEquation (GLenum mode);
+#endif
+#endif /* GL_VERSION_1_4 */
+#ifndef GL_VERSION_1_5
+typedef khronos_ssize_t GLsizeiptr;
+typedef khronos_intptr_t GLintptr;
+#define GL_ARRAY_BUFFER                   0x8892
+#define GL_ELEMENT_ARRAY_BUFFER           0x8893
+#define GL_ARRAY_BUFFER_BINDING           0x8894
+#define GL_ELEMENT_ARRAY_BUFFER_BINDING   0x8895
+#define GL_STREAM_DRAW                    0x88E0
+typedef void (APIENTRYP PFNGLBINDBUFFERPROC) (GLenum target, GLuint buffer);
+typedef void (APIENTRYP PFNGLDELETEBUFFERSPROC) (GLsizei n, const GLuint *buffers);
+typedef void (APIENTRYP PFNGLGENBUFFERSPROC) (GLsizei n, GLuint *buffers);
+typedef void (APIENTRYP PFNGLBUFFERDATAPROC) (GLenum target, GLsizeiptr size, const void *data, GLenum usage);
+typedef void (APIENTRYP PFNGLBUFFERSUBDATAPROC) (GLenum target, GLintptr offset, GLsizeiptr size, const void *data);
+#ifdef GL_GLEXT_PROTOTYPES
+GLAPI void APIENTRY glBindBuffer (GLenum target, GLuint buffer);
+GLAPI void APIENTRY glDeleteBuffers (GLsizei n, const GLuint *buffers);
+GLAPI void APIENTRY glGenBuffers (GLsizei n, GLuint *buffers);
+GLAPI void APIENTRY glBufferData (GLenum target, GLsizeiptr size, const void *data, GLenum usage);
+GLAPI void APIENTRY glBufferSubData (GLenum target, GLintptr offset, GLsizeiptr size, const void *data);
+#endif
+#endif /* GL_VERSION_1_5 */
+#ifndef GL_VERSION_2_0
+typedef char GLchar;
+typedef khronos_int16_t GLshort;
+typedef khronos_int8_t GLbyte;
+typedef khronos_uint16_t GLushort;
+#define GL_BLEND_EQUATION_RGB             0x8009
+#define GL_VERTEX_ATTRIB_ARRAY_ENABLED    0x8622
+#define GL_VERTEX_ATTRIB_ARRAY_SIZE       0x8623
+#define GL_VERTEX_ATTRIB_ARRAY_STRIDE     0x8624
+#define GL_VERTEX_ATTRIB_ARRAY_TYPE       0x8625
+#define GL_VERTEX_ATTRIB_ARRAY_POINTER    0x8645
+#define GL_BLEND_EQUATION_ALPHA           0x883D
+#define GL_VERTEX_ATTRIB_ARRAY_NORMALIZED 0x886A
+#define GL_FRAGMENT_SHADER                0x8B30
+#define GL_VERTEX_SHADER                  0x8B31
+#define GL_COMPILE_STATUS                 0x8B81
+#define GL_LINK_STATUS                    0x8B82
+#define GL_INFO_LOG_LENGTH                0x8B84
+#define GL_CURRENT_PROGRAM                0x8B8D
+#define GL_UPPER_LEFT                     0x8CA2
+typedef void (APIENTRYP PFNGLBLENDEQUATIONSEPARATEPROC) (GLenum modeRGB, GLenum modeAlpha);
+typedef void (APIENTRYP PFNGLATTACHSHADERPROC) (GLuint program, GLuint shader);
+typedef void (APIENTRYP PFNGLCOMPILESHADERPROC) (GLuint shader);
+typedef GLuint (APIENTRYP PFNGLCREATEPROGRAMPROC) (void);
+typedef GLuint (APIENTRYP PFNGLCREATESHADERPROC) (GLenum type);
+typedef void (APIENTRYP PFNGLDELETEPROGRAMPROC) (GLuint program);
+typedef void (APIENTRYP PFNGLDELETESHADERPROC) (GLuint shader);
+typedef void (APIENTRYP PFNGLDETACHSHADERPROC) (GLuint program, GLuint shader);
+typedef void (APIENTRYP PFNGLDISABLEVERTEXATTRIBARRAYPROC) (GLuint index);
+typedef void (APIENTRYP PFNGLENABLEVERTEXATTRIBARRAYPROC) (GLuint index);
+typedef GLint (APIENTRYP PFNGLGETATTRIBLOCATIONPROC) (GLuint program, const GLchar *name);
+typedef void (APIENTRYP PFNGLGETPROGRAMIVPROC) (GLuint program, GLenum pname, GLint *params);
+typedef void (APIENTRYP PFNGLGETPROGRAMINFOLOGPROC) (GLuint program, GLsizei bufSize, GLsizei *length, GLchar *infoLog);
+typedef void (APIENTRYP PFNGLGETSHADERIVPROC) (GLuint shader, GLenum pname, GLint *params);
+typedef void (APIENTRYP PFNGLGETSHADERINFOLOGPROC) (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *infoLog);
+typedef GLint (APIENTRYP PFNGLGETUNIFORMLOCATIONPROC) (GLuint program, const GLchar *name);
+typedef void (APIENTRYP PFNGLGETVERTEXATTRIBIVPROC) (GLuint index, GLenum pname, GLint *params);
+typedef void (APIENTRYP PFNGLGETVERTEXATTRIBPOINTERVPROC) (GLuint index, GLenum pname, void **pointer);
+typedef void (APIENTRYP PFNGLLINKPROGRAMPROC) (GLuint program);
+typedef void (APIENTRYP PFNGLSHADERSOURCEPROC) (GLuint shader, GLsizei count, const GLchar *const*string, const GLint *length);
+typedef void (APIENTRYP PFNGLUSEPROGRAMPROC) (GLuint program);
+typedef void (APIENTRYP PFNGLUNIFORM1IPROC) (GLint location, GLint v0);
+typedef void (APIENTRYP PFNGLUNIFORMMATRIX4FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value);
+typedef void (APIENTRYP PFNGLVERTEXATTRIBPOINTERPROC) (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const void *pointer);
+#ifdef GL_GLEXT_PROTOTYPES
+GLAPI void APIENTRY glBlendEquationSeparate (GLenum modeRGB, GLenum modeAlpha);
+GLAPI void APIENTRY glAttachShader (GLuint program, GLuint shader);
+GLAPI void APIENTRY glCompileShader (GLuint shader);
+GLAPI GLuint APIENTRY glCreateProgram (void);
+GLAPI GLuint APIENTRY glCreateShader (GLenum type);
+GLAPI void APIENTRY glDeleteProgram (GLuint program);
+GLAPI void APIENTRY glDeleteShader (GLuint shader);
+GLAPI void APIENTRY glDetachShader (GLuint program, GLuint shader);
+GLAPI void APIENTRY glDisableVertexAttribArray (GLuint index);
+GLAPI void APIENTRY glEnableVertexAttribArray (GLuint index);
+GLAPI GLint APIENTRY glGetAttribLocation (GLuint program, const GLchar *name);
+GLAPI void APIENTRY glGetProgramiv (GLuint program, GLenum pname, GLint *params);
+GLAPI void APIENTRY glGetProgramInfoLog (GLuint program, GLsizei bufSize, GLsizei *length, GLchar *infoLog);
+GLAPI void APIENTRY glGetShaderiv (GLuint shader, GLenum pname, GLint *params);
+GLAPI void APIENTRY glGetShaderInfoLog (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *infoLog);
+GLAPI GLint APIENTRY glGetUniformLocation (GLuint program, const GLchar *name);
+GLAPI void APIENTRY glGetVertexAttribiv (GLuint index, GLenum pname, GLint *params);
+GLAPI void APIENTRY glGetVertexAttribPointerv (GLuint index, GLenum pname, void **pointer);
+GLAPI void APIENTRY glLinkProgram (GLuint program);
+GLAPI void APIENTRY glShaderSource (GLuint shader, GLsizei count, const GLchar *const*string, const GLint *length);
+GLAPI void APIENTRY glUseProgram (GLuint program);
+GLAPI void APIENTRY glUniform1i (GLint location, GLint v0);
+GLAPI void APIENTRY glUniformMatrix4fv (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value);
+GLAPI void APIENTRY glVertexAttribPointer (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const void *pointer);
+#endif
+#endif /* GL_VERSION_2_0 */
+#ifndef GL_VERSION_3_0
+typedef khronos_uint16_t GLhalf;
+#define GL_MAJOR_VERSION                  0x821B
+#define GL_MINOR_VERSION                  0x821C
+#define GL_NUM_EXTENSIONS                 0x821D
+#define GL_FRAMEBUFFER_SRGB               0x8DB9
+#define GL_VERTEX_ARRAY_BINDING           0x85B5
+typedef void (APIENTRYP PFNGLGETBOOLEANI_VPROC) (GLenum target, GLuint index, GLboolean *data);
+typedef void (APIENTRYP PFNGLGETINTEGERI_VPROC) (GLenum target, GLuint index, GLint *data);
+typedef const GLubyte *(APIENTRYP PFNGLGETSTRINGIPROC) (GLenum name, GLuint index);
+typedef void (APIENTRYP PFNGLBINDVERTEXARRAYPROC) (GLuint array);
+typedef void (APIENTRYP PFNGLDELETEVERTEXARRAYSPROC) (GLsizei n, const GLuint *arrays);
+typedef void (APIENTRYP PFNGLGENVERTEXARRAYSPROC) (GLsizei n, GLuint *arrays);
+#ifdef GL_GLEXT_PROTOTYPES
+GLAPI const GLubyte *APIENTRY glGetStringi (GLenum name, GLuint index);
+GLAPI void APIENTRY glBindVertexArray (GLuint array);
+GLAPI void APIENTRY glDeleteVertexArrays (GLsizei n, const GLuint *arrays);
+GLAPI void APIENTRY glGenVertexArrays (GLsizei n, GLuint *arrays);
+#endif
+#endif /* GL_VERSION_3_0 */
+#ifndef GL_VERSION_3_1
+#define GL_VERSION_3_1 1
+#define GL_PRIMITIVE_RESTART              0x8F9D
+#endif /* GL_VERSION_3_1 */
+#ifndef GL_VERSION_3_2
+#define GL_VERSION_3_2 1
+typedef struct __GLsync *GLsync;
+typedef khronos_uint64_t GLuint64;
+typedef khronos_int64_t GLint64;
+typedef void (APIENTRYP PFNGLDRAWELEMENTSBASEVERTEXPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLint basevertex);
+typedef void (APIENTRYP PFNGLGETINTEGER64I_VPROC) (GLenum target, GLuint index, GLint64 *data);
+#ifdef GL_GLEXT_PROTOTYPES
+GLAPI void APIENTRY glDrawElementsBaseVertex (GLenum mode, GLsizei count, GLenum type, const void *indices, GLint basevertex);
+#endif
+#endif /* GL_VERSION_3_2 */
+#ifndef GL_VERSION_3_3
+#define GL_VERSION_3_3 1
+#define GL_SAMPLER_BINDING                0x8919
+typedef void (APIENTRYP PFNGLBINDSAMPLERPROC) (GLuint unit, GLuint sampler);
+#ifdef GL_GLEXT_PROTOTYPES
+GLAPI void APIENTRY glBindSampler (GLuint unit, GLuint sampler);
+#endif
+#endif /* GL_VERSION_3_3 */
+#ifndef GL_VERSION_4_1
+typedef void (APIENTRYP PFNGLGETFLOATI_VPROC) (GLenum target, GLuint index, GLfloat *data);
+typedef void (APIENTRYP PFNGLGETDOUBLEI_VPROC) (GLenum target, GLuint index, GLdouble *data);
+#endif /* GL_VERSION_4_1 */
+#ifndef GL_VERSION_4_3
+typedef void (APIENTRY  *GLDEBUGPROC)(GLenum source,GLenum type,GLuint id,GLenum severity,GLsizei length,const GLchar *message,const void *userParam);
+#endif /* GL_VERSION_4_3 */
+#ifndef GL_VERSION_4_5
+#define GL_CLIP_ORIGIN                    0x935C
+typedef void (APIENTRYP PFNGLGETTRANSFORMFEEDBACKI_VPROC) (GLuint xfb, GLenum pname, GLuint index, GLint *param);
+typedef void (APIENTRYP PFNGLGETTRANSFORMFEEDBACKI64_VPROC) (GLuint xfb, GLenum pname, GLuint index, GLint64 *param);
+#endif /* GL_VERSION_4_5 */
+#ifndef GL_ARB_bindless_texture
+typedef khronos_uint64_t GLuint64EXT;
+#endif /* GL_ARB_bindless_texture */
+#ifndef GL_ARB_cl_event
+struct _cl_context;
+struct _cl_event;
+#endif /* GL_ARB_cl_event */
+#ifndef GL_ARB_clip_control
+#define GL_ARB_clip_control 1
+#endif /* GL_ARB_clip_control */
+#ifndef GL_ARB_debug_output
+typedef void (APIENTRY  *GLDEBUGPROCARB)(GLenum source,GLenum type,GLuint id,GLenum severity,GLsizei length,const GLchar *message,const void *userParam);
+#endif /* GL_ARB_debug_output */
+#ifndef GL_EXT_EGL_image_storage
+typedef void *GLeglImageOES;
+#endif /* GL_EXT_EGL_image_storage */
+#ifndef GL_EXT_direct_state_access
+typedef void (APIENTRYP PFNGLGETFLOATI_VEXTPROC) (GLenum pname, GLuint index, GLfloat *params);
+typedef void (APIENTRYP PFNGLGETDOUBLEI_VEXTPROC) (GLenum pname, GLuint index, GLdouble *params);
+typedef void (APIENTRYP PFNGLGETPOINTERI_VEXTPROC) (GLenum pname, GLuint index, void **params);
+typedef void (APIENTRYP PFNGLGETVERTEXARRAYINTEGERI_VEXTPROC) (GLuint vaobj, GLuint index, GLenum pname, GLint *param);
+typedef void (APIENTRYP PFNGLGETVERTEXARRAYPOINTERI_VEXTPROC) (GLuint vaobj, GLuint index, GLenum pname, void **param);
+#endif /* GL_EXT_direct_state_access */
+#ifndef GL_NV_draw_vulkan_image
+typedef void (APIENTRY  *GLVULKANPROCNV)(void);
+#endif /* GL_NV_draw_vulkan_image */
+#ifndef GL_NV_gpu_shader5
+typedef khronos_int64_t GLint64EXT;
+#endif /* GL_NV_gpu_shader5 */
+#ifndef GL_NV_vertex_buffer_unified_memory
+typedef void (APIENTRYP PFNGLGETINTEGERUI64I_VNVPROC) (GLenum value, GLuint index, GLuint64EXT *result);
+#endif /* GL_NV_vertex_buffer_unified_memory */
+#ifdef __cplusplus
+}
+#endif
+#endif
+
+#ifndef GL3W_API
+#define GL3W_API
+#endif
+
+#ifndef __gl_h_
+#define __gl_h_
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define GL3W_OK 0
+#define GL3W_ERROR_INIT -1
+#define GL3W_ERROR_LIBRARY_OPEN -2
+#define GL3W_ERROR_OPENGL_VERSION -3
+
+typedef void (*GL3WglProc)(void);
+typedef GL3WglProc (*GL3WGetProcAddressProc)(const char *proc);
+
+/* gl3w api */
+GL3W_API int imgl3wInit(void);
+GL3W_API int imgl3wInit2(GL3WGetProcAddressProc proc);
+GL3W_API int imgl3wIsSupported(int major, int minor);
+GL3W_API GL3WglProc imgl3wGetProcAddress(const char *proc);
+
+/* gl3w internal state */
+union GL3WProcs {
+    GL3WglProc ptr[58];
+    struct {
+        PFNGLACTIVETEXTUREPROC            ActiveTexture;
+        PFNGLATTACHSHADERPROC             AttachShader;
+        PFNGLBINDBUFFERPROC               BindBuffer;
+        PFNGLBINDSAMPLERPROC              BindSampler;
+        PFNGLBINDTEXTUREPROC              BindTexture;
+        PFNGLBINDVERTEXARRAYPROC          BindVertexArray;
+        PFNGLBLENDEQUATIONPROC            BlendEquation;
+        PFNGLBLENDEQUATIONSEPARATEPROC    BlendEquationSeparate;
+        PFNGLBLENDFUNCSEPARATEPROC        BlendFuncSeparate;
+        PFNGLBUFFERDATAPROC               BufferData;
+        PFNGLBUFFERSUBDATAPROC            BufferSubData;
+        PFNGLCLEARPROC                    Clear;
+        PFNGLCLEARCOLORPROC               ClearColor;
+        PFNGLCOMPILESHADERPROC            CompileShader;
+        PFNGLCREATEPROGRAMPROC            CreateProgram;
+        PFNGLCREATESHADERPROC             CreateShader;
+        PFNGLDELETEBUFFERSPROC            DeleteBuffers;
+        PFNGLDELETEPROGRAMPROC            DeleteProgram;
+        PFNGLDELETESHADERPROC             DeleteShader;
+        PFNGLDELETETEXTURESPROC           DeleteTextures;
+        PFNGLDELETEVERTEXARRAYSPROC       DeleteVertexArrays;
+        PFNGLDETACHSHADERPROC             DetachShader;
+        PFNGLDISABLEPROC                  Disable;
+        PFNGLDISABLEVERTEXATTRIBARRAYPROC DisableVertexAttribArray;
+        PFNGLDRAWELEMENTSPROC             DrawElements;
+        PFNGLDRAWELEMENTSBASEVERTEXPROC   DrawElementsBaseVertex;
+        PFNGLENABLEPROC                   Enable;
+        PFNGLENABLEVERTEXATTRIBARRAYPROC  EnableVertexAttribArray;
+        PFNGLFLUSHPROC                    Flush;
+        PFNGLGENBUFFERSPROC               GenBuffers;
+        PFNGLGENTEXTURESPROC              GenTextures;
+        PFNGLGENVERTEXARRAYSPROC          GenVertexArrays;
+        PFNGLGETATTRIBLOCATIONPROC        GetAttribLocation;
+        PFNGLGETERRORPROC                 GetError;
+        PFNGLGETINTEGERVPROC              GetIntegerv;
+        PFNGLGETPROGRAMINFOLOGPROC        GetProgramInfoLog;
+        PFNGLGETPROGRAMIVPROC             GetProgramiv;
+        PFNGLGETSHADERINFOLOGPROC         GetShaderInfoLog;
+        PFNGLGETSHADERIVPROC              GetShaderiv;
+        PFNGLGETSTRINGPROC                GetString;
+        PFNGLGETSTRINGIPROC               GetStringi;
+        PFNGLGETUNIFORMLOCATIONPROC       GetUniformLocation;
+        PFNGLGETVERTEXATTRIBPOINTERVPROC  GetVertexAttribPointerv;
+        PFNGLGETVERTEXATTRIBIVPROC        GetVertexAttribiv;
+        PFNGLISENABLEDPROC                IsEnabled;
+        PFNGLLINKPROGRAMPROC              LinkProgram;
+        PFNGLPIXELSTOREIPROC              PixelStorei;
+        PFNGLPOLYGONMODEPROC              PolygonMode;
+        PFNGLREADPIXELSPROC               ReadPixels;
+        PFNGLSCISSORPROC                  Scissor;
+        PFNGLSHADERSOURCEPROC             ShaderSource;
+        PFNGLTEXIMAGE2DPROC               TexImage2D;
+        PFNGLTEXPARAMETERIPROC            TexParameteri;
+        PFNGLUNIFORM1IPROC                Uniform1i;
+        PFNGLUNIFORMMATRIX4FVPROC         UniformMatrix4fv;
+        PFNGLUSEPROGRAMPROC               UseProgram;
+        PFNGLVERTEXATTRIBPOINTERPROC      VertexAttribPointer;
+        PFNGLVIEWPORTPROC                 Viewport;
+    } gl;
+};
+
+GL3W_API extern union GL3WProcs imgl3wProcs;
+
+/* OpenGL functions */
+#define glActiveTexture                   imgl3wProcs.gl.ActiveTexture
+#define glAttachShader                    imgl3wProcs.gl.AttachShader
+#define glBindBuffer                      imgl3wProcs.gl.BindBuffer
+#define glBindSampler                     imgl3wProcs.gl.BindSampler
+#define glBindTexture                     imgl3wProcs.gl.BindTexture
+#define glBindVertexArray                 imgl3wProcs.gl.BindVertexArray
+#define glBlendEquation                   imgl3wProcs.gl.BlendEquation
+#define glBlendEquationSeparate           imgl3wProcs.gl.BlendEquationSeparate
+#define glBlendFuncSeparate               imgl3wProcs.gl.BlendFuncSeparate
+#define glBufferData                      imgl3wProcs.gl.BufferData
+#define glBufferSubData                   imgl3wProcs.gl.BufferSubData
+#define glClear                           imgl3wProcs.gl.Clear
+#define glClearColor                      imgl3wProcs.gl.ClearColor
+#define glCompileShader                   imgl3wProcs.gl.CompileShader
+#define glCreateProgram                   imgl3wProcs.gl.CreateProgram
+#define glCreateShader                    imgl3wProcs.gl.CreateShader
+#define glDeleteBuffers                   imgl3wProcs.gl.DeleteBuffers
+#define glDeleteProgram                   imgl3wProcs.gl.DeleteProgram
+#define glDeleteShader                    imgl3wProcs.gl.DeleteShader
+#define glDeleteTextures                  imgl3wProcs.gl.DeleteTextures
+#define glDeleteVertexArrays              imgl3wProcs.gl.DeleteVertexArrays
+#define glDetachShader                    imgl3wProcs.gl.DetachShader
+#define glDisable                         imgl3wProcs.gl.Disable
+#define glDisableVertexAttribArray        imgl3wProcs.gl.DisableVertexAttribArray
+#define glDrawElements                    imgl3wProcs.gl.DrawElements
+#define glDrawElementsBaseVertex          imgl3wProcs.gl.DrawElementsBaseVertex
+#define glEnable                          imgl3wProcs.gl.Enable
+#define glEnableVertexAttribArray         imgl3wProcs.gl.EnableVertexAttribArray
+#define glFlush                           imgl3wProcs.gl.Flush
+#define glGenBuffers                      imgl3wProcs.gl.GenBuffers
+#define glGenTextures                     imgl3wProcs.gl.GenTextures
+#define glGenVertexArrays                 imgl3wProcs.gl.GenVertexArrays
+#define glGetAttribLocation               imgl3wProcs.gl.GetAttribLocation
+#define glGetError                        imgl3wProcs.gl.GetError
+#define glGetIntegerv                     imgl3wProcs.gl.GetIntegerv
+#define glGetProgramInfoLog               imgl3wProcs.gl.GetProgramInfoLog
+#define glGetProgramiv                    imgl3wProcs.gl.GetProgramiv
+#define glGetShaderInfoLog                imgl3wProcs.gl.GetShaderInfoLog
+#define glGetShaderiv                     imgl3wProcs.gl.GetShaderiv
+#define glGetString                       imgl3wProcs.gl.GetString
+#define glGetStringi                      imgl3wProcs.gl.GetStringi
+#define glGetUniformLocation              imgl3wProcs.gl.GetUniformLocation
+#define glGetVertexAttribPointerv         imgl3wProcs.gl.GetVertexAttribPointerv
+#define glGetVertexAttribiv               imgl3wProcs.gl.GetVertexAttribiv
+#define glIsEnabled                       imgl3wProcs.gl.IsEnabled
+#define glLinkProgram                     imgl3wProcs.gl.LinkProgram
+#define glPixelStorei                     imgl3wProcs.gl.PixelStorei
+#define glPolygonMode                     imgl3wProcs.gl.PolygonMode
+#define glReadPixels                      imgl3wProcs.gl.ReadPixels
+#define glScissor                         imgl3wProcs.gl.Scissor
+#define glShaderSource                    imgl3wProcs.gl.ShaderSource
+#define glTexImage2D                      imgl3wProcs.gl.TexImage2D
+#define glTexParameteri                   imgl3wProcs.gl.TexParameteri
+#define glUniform1i                       imgl3wProcs.gl.Uniform1i
+#define glUniformMatrix4fv                imgl3wProcs.gl.UniformMatrix4fv
+#define glUseProgram                      imgl3wProcs.gl.UseProgram
+#define glVertexAttribPointer             imgl3wProcs.gl.VertexAttribPointer
+#define glViewport                        imgl3wProcs.gl.Viewport
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+
+#ifdef IMGL3W_IMPL
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdlib.h>
+
+#define ARRAY_SIZE(x)  (sizeof(x) / sizeof((x)[0]))
+
+#if defined(_WIN32)
+#ifndef WIN32_LEAN_AND_MEAN
+#define WIN32_LEAN_AND_MEAN 1
+#endif
+#include <windows.h>
+
+static HMODULE libgl;
+typedef PROC(__stdcall* GL3WglGetProcAddr)(LPCSTR);
+static GL3WglGetProcAddr wgl_get_proc_address;
+
+static int open_libgl(void)
+{
+    libgl = LoadLibraryA("opengl32.dll");
+    if (!libgl)
+        return GL3W_ERROR_LIBRARY_OPEN;
+    wgl_get_proc_address = (GL3WglGetProcAddr)GetProcAddress(libgl, "wglGetProcAddress");
+    return GL3W_OK;
+}
+
+static void close_libgl(void) { FreeLibrary(libgl); }
+static GL3WglProc get_proc(const char *proc)
+{
+    GL3WglProc res;
+    res = (GL3WglProc)wgl_get_proc_address(proc);
+    if (!res)
+        res = (GL3WglProc)GetProcAddress(libgl, proc);
+    return res;
+}
+#elif defined(__APPLE__)
+#include <dlfcn.h>
+
+static void *libgl;
+static int open_libgl(void)
+{
+    libgl = dlopen("/System/Library/Frameworks/OpenGL.framework/OpenGL", RTLD_LAZY | RTLD_LOCAL);
+    if (!libgl)
+        return GL3W_ERROR_LIBRARY_OPEN;
+    return GL3W_OK;
+}
+
+static void close_libgl(void) { dlclose(libgl); }
+
+static GL3WglProc get_proc(const char *proc)
+{
+    GL3WglProc res;
+    *(void **)(&res) = dlsym(libgl, proc);
+    return res;
+}
+#else
+#include <dlfcn.h>
+
+static void *libgl;
+static GL3WglProc (*glx_get_proc_address)(const GLubyte *);
+
+static int open_libgl(void)
+{
+    libgl = dlopen("libGL.so.1", RTLD_LAZY | RTLD_LOCAL);
+    if (!libgl)
+        return GL3W_ERROR_LIBRARY_OPEN;
+    *(void **)(&glx_get_proc_address) = dlsym(libgl, "glXGetProcAddressARB");
+    return GL3W_OK;
+}
+
+static void close_libgl(void) { dlclose(libgl); }
+
+static GL3WglProc get_proc(const char *proc)
+{
+    GL3WglProc res;
+    res = glx_get_proc_address((const GLubyte *)proc);
+    if (!res)
+        *(void **)(&res) = dlsym(libgl, proc);
+    return res;
+}
+#endif
+
+static struct { int major, minor; } version;
+
+static int parse_version(void)
+{
+    if (!glGetIntegerv)
+        return GL3W_ERROR_INIT;
+    glGetIntegerv(GL_MAJOR_VERSION, &version.major);
+    glGetIntegerv(GL_MINOR_VERSION, &version.minor);
+    if (version.major < 3)
+        return GL3W_ERROR_OPENGL_VERSION;
+    return GL3W_OK;
+}
+
+static void load_procs(GL3WGetProcAddressProc proc);
+
+int imgl3wInit(void)
+{
+    int res = open_libgl();
+    if (res)
+        return res;
+    atexit(close_libgl);
+    return imgl3wInit2(get_proc);
+}
+
+int imgl3wInit2(GL3WGetProcAddressProc proc)
+{
+    load_procs(proc);
+    return parse_version();
+}
+
+int imgl3wIsSupported(int major, int minor)
+{
+    if (major < 3)
+        return 0;
+    if (version.major == major)
+        return version.minor >= minor;
+    return version.major >= major;
+}
+
+GL3WglProc imgl3wGetProcAddress(const char *proc) { return get_proc(proc); }
+
+static const char *proc_names[] = {
+    "glActiveTexture",
+    "glAttachShader",
+    "glBindBuffer",
+    "glBindSampler",
+    "glBindTexture",
+    "glBindVertexArray",
+    "glBlendEquation",
+    "glBlendEquationSeparate",
+    "glBlendFuncSeparate",
+    "glBufferData",
+    "glBufferSubData",
+    "glClear",
+    "glClearColor",
+    "glCompileShader",
+    "glCreateProgram",
+    "glCreateShader",
+    "glDeleteBuffers",
+    "glDeleteProgram",
+    "glDeleteShader",
+    "glDeleteTextures",
+    "glDeleteVertexArrays",
+    "glDetachShader",
+    "glDisable",
+    "glDisableVertexAttribArray",
+    "glDrawElements",
+    "glDrawElementsBaseVertex",
+    "glEnable",
+    "glEnableVertexAttribArray",
+    "glFlush",
+    "glGenBuffers",
+    "glGenTextures",
+    "glGenVertexArrays",
+    "glGetAttribLocation",
+    "glGetError",
+    "glGetIntegerv",
+    "glGetProgramInfoLog",
+    "glGetProgramiv",
+    "glGetShaderInfoLog",
+    "glGetShaderiv",
+    "glGetString",
+    "glGetStringi",
+    "glGetUniformLocation",
+    "glGetVertexAttribPointerv",
+    "glGetVertexAttribiv",
+    "glIsEnabled",
+    "glLinkProgram",
+    "glPixelStorei",
+    "glPolygonMode",
+    "glReadPixels",
+    "glScissor",
+    "glShaderSource",
+    "glTexImage2D",
+    "glTexParameteri",
+    "glUniform1i",
+    "glUniformMatrix4fv",
+    "glUseProgram",
+    "glVertexAttribPointer",
+    "glViewport",
+};
+
+GL3W_API union GL3WProcs imgl3wProcs;
+
+static void load_procs(GL3WGetProcAddressProc proc)
+{
+    size_t i;
+    for (i = 0; i < ARRAY_SIZE(proc_names); i++)
+        imgl3wProcs.ptr[i] = proc(proc_names[i]);
+}
+
+#ifdef __cplusplus
+}
+#endif
+#endif

lib/imgui/imstb_rectpack.h

@@ -1,9 +1,19 @@
-// stb_rect_pack.h - v0.11 - public domain - rectangle packing
+// [DEAR IMGUI]
+// This is a slightly modified version of stb_rect_pack.h 1.01.
+// Grep for [DEAR IMGUI] to find the changes.
+// 
+// stb_rect_pack.h - v1.01 - public domain - rectangle packing
 // Sean Barrett 2014
 //
 // Useful for e.g. packing rectangular textures into an atlas.
 // Does not do rotation.
 //
+// Before #including,
+//
+//    #define STB_RECT_PACK_IMPLEMENTATION
+//
+// in the file that you want to have the implementation.
+//
 // Not necessarily the awesomest packing method, but better than
 // the totally naive one in stb_truetype (which is primarily what
 // this is meant to replace).
@@ -28,12 +38,16 @@
 //  Minor features
 //    Martins Mozeiko
 //    github:IntellectualKitty
-//    
+//
 //  Bugfixes / warning fixes
 //    Jeremy Jaussaud
+//    Fabian Giesen
 //
 // Version history:
 //
+//     1.01  (2021-07-11)  always use large rect mode, expose STBRP__MAXVAL in public section
+//     1.00  (2019-02-25)  avoid small space waste; gracefully fail too-wide rectangles
+//     0.99  (2019-02-07)  warning fixes
 //     0.11  (2017-03-03)  return packing success/fail result
 //     0.10  (2016-10-25)  remove cast-away-const to avoid warnings
 //     0.09  (2016-08-27)  fix compiler warnings
@@ -72,11 +86,10 @@ typedef struct stbrp_context stbrp_context;
 typedef struct stbrp_node    stbrp_node;
 typedef struct stbrp_rect    stbrp_rect;
 
-#ifdef STBRP_LARGE_RECTS
 typedef int            stbrp_coord;
-#else
-typedef unsigned short stbrp_coord;
-#endif
+
+#define STBRP__MAXVAL  0x7fffffff
+// Mostly for internal use, but this is the maximum supported coordinate value.
 
 STBRP_DEF int stbrp_pack_rects (stbrp_context *context, stbrp_rect *rects, int num_rects);
 // Assign packed locations to rectangles. The rectangles are of type
@@ -206,7 +219,7 @@ struct stbrp_context
 
 #ifdef _MSC_VER
 #define STBRP__NOTUSED(v)  (void)(v)
-#define STBRP__CDECL __cdecl
+#define STBRP__CDECL       __cdecl
 #else
 #define STBRP__NOTUSED(v)  (void)sizeof(v)
 #define STBRP__CDECL
@@ -252,9 +265,6 @@ STBRP_DEF void stbrp_setup_allow_out_of_mem(stbrp_context *context, int allow_ou
 STBRP_DEF void stbrp_init_target(stbrp_context *context, int width, int height, stbrp_node *nodes, int num_nodes)
 {
    int i;
-#ifndef STBRP_LARGE_RECTS
-   STBRP_ASSERT(width <= 0xffff && height <= 0xffff);
-#endif
 
    for (i=0; i < num_nodes-1; ++i)
       nodes[i].next = &nodes[i+1];
@@ -273,11 +283,7 @@ STBRP_DEF void stbrp_init_target(stbrp_context *context, int width, int height,
    context->extra[0].y = 0;
    context->extra[0].next = &context->extra[1];
    context->extra[1].x = (stbrp_coord) width;
-#ifdef STBRP_LARGE_RECTS
    context->extra[1].y = (1<<30);
-#else
-   context->extra[1].y = 65535;
-#endif
    context->extra[1].next = NULL;
 }
 
@@ -349,6 +355,13 @@ static stbrp__findresult stbrp__skyline_find_best_pos(stbrp_context *c, int widt
    width -= width % c->align;
    STBRP_ASSERT(width % c->align == 0);
 
+   // if it can't possibly fit, bail immediately
+   if (width > c->width || height > c->height) {
+      fr.prev_link = NULL;
+      fr.x = fr.y = 0;
+      return fr;
+   }
+
    node = c->active_head;
    prev = &c->active_head;
    while (node->x + width <= c->width) {
@@ -412,11 +425,11 @@ static stbrp__findresult stbrp__skyline_find_best_pos(stbrp_context *c, int widt
          }
          STBRP_ASSERT(node->next->x > xpos && node->x <= xpos);
          y = stbrp__skyline_find_min_y(c, node, xpos, width, &waste);
-         if (y + height < c->height) {
+         if (y + height <= c->height) {
             if (y <= best_y) {
                if (y < best_y || waste < best_waste || (waste==best_waste && xpos < best_x)) {
                   best_x = xpos;
-                  STBRP_ASSERT(y <= best_y);
+                  //STBRP_ASSERT(y <= best_y); [DEAR IMGUI]
                   best_y = y;
                   best_waste = waste;
                   best = prev;
@@ -424,7 +437,7 @@ static stbrp__findresult stbrp__skyline_find_best_pos(stbrp_context *c, int widt
             }
          }
          tail = tail->next;
-      }         
+      }
    }
 
    fr.prev_link = best;
@@ -530,12 +543,6 @@ static int STBRP__CDECL rect_original_order(const void *a, const void *b)
    return (p->was_packed < q->was_packed) ? -1 : (p->was_packed > q->was_packed);
 }
 
-#ifdef STBRP_LARGE_RECTS
-#define STBRP__MAXVAL  0xffffffff
-#else
-#define STBRP__MAXVAL  0xffff
-#endif
-
 STBRP_DEF int stbrp_pack_rects(stbrp_context *context, stbrp_rect *rects, int num_rects)
 {
    int i, all_rects_packed = 1;
@@ -543,9 +550,6 @@ STBRP_DEF int stbrp_pack_rects(stbrp_context *context, stbrp_rect *rects, int nu
    // we use the 'was_packed' field internally to allow sorting/unsorting
    for (i=0; i < num_rects; ++i) {
       rects[i].was_packed = i;
-      #ifndef STBRP_LARGE_RECTS
-      STBRP_ASSERT(rects[i].w <= 0xffff && rects[i].h <= 0xffff);
-      #endif
    }
 
    // sort according to heuristic
@@ -586,38 +590,38 @@ This software is available under 2 licenses -- choose whichever you prefer.
 ------------------------------------------------------------------------------
 ALTERNATIVE A - MIT License
 Copyright (c) 2017 Sean Barrett
-Permission is hereby granted, free of charge, to any person obtaining a copy of 
-this software and associated documentation files (the "Software"), to deal in 
-the Software without restriction, including without limitation the rights to 
-use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies 
-of the Software, and to permit persons to whom the Software is furnished to do 
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+of the Software, and to permit persons to whom the Software is furnished to do
 so, subject to the following conditions:
-The above copyright notice and this permission notice shall be included in all 
+The above copyright notice and this permission notice shall be included in all
 copies or substantial portions of the Software.
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
 ------------------------------------------------------------------------------
 ALTERNATIVE B - Public Domain (www.unlicense.org)
 This is free and unencumbered software released into the public domain.
-Anyone is free to copy, modify, publish, use, compile, sell, or distribute this 
-software, either in source code form or as a compiled binary, for any purpose, 
+Anyone is free to copy, modify, publish, use, compile, sell, or distribute this
+software, either in source code form or as a compiled binary, for any purpose,
 commercial or non-commercial, and by any means.
-In jurisdictions that recognize copyright laws, the author or authors of this 
-software dedicate any and all copyright interest in the software to the public 
-domain. We make this dedication for the benefit of the public at large and to 
-the detriment of our heirs and successors. We intend this dedication to be an 
-overt act of relinquishment in perpetuity of all present and future rights to 
+In jurisdictions that recognize copyright laws, the author or authors of this
+software dedicate any and all copyright interest in the software to the public
+domain. We make this dedication for the benefit of the public at large and to
+the detriment of our heirs and successors. We intend this dedication to be an
+overt act of relinquishment in perpetuity of all present and future rights to
 this software under copyright law.
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 
-AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN 
-ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION 
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 ------------------------------------------------------------------------------
 */

lib/imgui/imstb_textedit.h

@@ -1,9 +1,10 @@
-// [ImGui] this is a slightly modified version of stb_textedit.h 1.12. Those changes would need to be pushed into nothings/stb
-// [ImGui] - 2018-06: fixed undo/redo after pasting large amount of text (over 32 kb). Redo will still fail when undo buffers are exhausted, but text won't be corrupted (see nothings/stb issue #620)
-// [ImGui] - 2018-06: fix in stb_textedit_discard_redo (see https://github.com/nothings/stb/issues/321)
-// [ImGui] - fixed some minor warnings
+// [DEAR IMGUI]
+// This is a slightly modified version of stb_textedit.h 1.14.
+// Those changes would need to be pushed into nothings/stb:
+// - Fix in stb_textedit_discard_redo (see https://github.com/nothings/stb/issues/321)
+// Grep for [DEAR IMGUI] to find the changes.
 
-// stb_textedit.h - v1.12  - public domain - Sean Barrett
+// stb_textedit.h - v1.14  - public domain - Sean Barrett
 // Development of this library was sponsored by RAD Game Tools
 //
 // This C header file implements the guts of a multi-line text-editing
@@ -18,7 +19,7 @@
 // texts, as its performance does not scale and it has limited undo).
 //
 // Non-trivial behaviors are modelled after Windows text controls.
-// 
+//
 //
 // LICENSE
 //
@@ -34,6 +35,8 @@
 //
 // VERSION HISTORY
 //
+//   1.14 (2021-07-11) page up/down, various fixes
+//   1.13 (2019-02-07) fix bug in undo size management
 //   1.12 (2018-01-29) user can change STB_TEXTEDIT_KEYTYPE, fix redo to avoid crash
 //   1.11 (2017-03-03) fix HOME on last line, dragging off single-line textfield
 //   1.10 (2016-10-25) supress warnings about casting away const with -Wcast-qual
@@ -56,6 +59,7 @@
 //   Ulf Winklemann: move-by-word in 1.1
 //   Fabian Giesen: secondary key inputs in 1.5
 //   Martins Mozeiko: STB_TEXTEDIT_memmove in 1.6
+//   Louis Schnellbach: page up/down in 1.14
 //
 //   Bugfixes:
 //      Scott Graham
@@ -91,8 +95,8 @@
 //   moderate sizes. The undo system does no memory allocations, so
 //   it grows STB_TexteditState by the worst-case storage which is (in bytes):
 //
-//        [4 + 3 * sizeof(STB_TEXTEDIT_POSITIONTYPE)] * STB_TEXTEDIT_UNDOSTATE_COUNT
-//      +          sizeof(STB_TEXTEDIT_CHARTYPE)      * STB_TEXTEDIT_UNDOCHAR_COUNT
+//        [4 + 3 * sizeof(STB_TEXTEDIT_POSITIONTYPE)] * STB_TEXTEDIT_UNDOSTATECOUNT
+//      +          sizeof(STB_TEXTEDIT_CHARTYPE)      * STB_TEXTEDIT_UNDOCHARCOUNT
 //
 //
 // Implementation mode:
@@ -146,6 +150,8 @@
 //    STB_TEXTEDIT_K_RIGHT       keyboard input to move cursor right
 //    STB_TEXTEDIT_K_UP          keyboard input to move cursor up
 //    STB_TEXTEDIT_K_DOWN        keyboard input to move cursor down
+//    STB_TEXTEDIT_K_PGUP        keyboard input to move cursor up a page
+//    STB_TEXTEDIT_K_PGDOWN      keyboard input to move cursor down a page
 //    STB_TEXTEDIT_K_LINESTART   keyboard input to move cursor to start of line  // e.g. HOME
 //    STB_TEXTEDIT_K_LINEEND     keyboard input to move cursor to end of line    // e.g. END
 //    STB_TEXTEDIT_K_TEXTSTART   keyboard input to move cursor to start of text  // e.g. ctrl-HOME
@@ -168,14 +174,10 @@
 //    STB_TEXTEDIT_K_TEXTSTART2          secondary keyboard input to move cursor to start of text
 //    STB_TEXTEDIT_K_TEXTEND2            secondary keyboard input to move cursor to end of text
 //
-// Todo:
-//    STB_TEXTEDIT_K_PGUP        keyboard input to move cursor up a page
-//    STB_TEXTEDIT_K_PGDOWN      keyboard input to move cursor down a page
-//
 // Keyboard input must be encoded as a single integer value; e.g. a character code
 // and some bitflags that represent shift states. to simplify the interface, SHIFT must
 // be a bitflag, so we can test the shifted state of cursor movements to allow selection,
-// i.e. (STB_TEXTED_K_RIGHT|STB_TEXTEDIT_K_SHIFT) should be shifted right-arrow.
+// i.e. (STB_TEXTEDIT_K_RIGHT|STB_TEXTEDIT_K_SHIFT) should be shifted right-arrow.
 //
 // You can encode other things, such as CONTROL or ALT, in additional bits, and
 // then test for their presence in e.g. STB_TEXTEDIT_K_WORDLEFT. For example,
@@ -217,20 +219,20 @@
 //          call this with the mouse x,y on a mouse down; it will update the cursor
 //          and reset the selection start/end to the cursor point. the x,y must
 //          be relative to the text widget, with (0,0) being the top left.
-//     
+//
 //      drag:
 //          call this with the mouse x,y on a mouse drag/up; it will update the
 //          cursor and the selection end point
-//     
+//
 //      cut:
 //          call this to delete the current selection; returns true if there was
 //          one. you should FIRST copy the current selection to the system paste buffer.
 //          (To copy, just copy the current selection out of the string yourself.)
-//     
+//
 //      paste:
 //          call this to paste text at the current cursor point or over the current
 //          selection if there is one.
-//     
+//
 //      key:
 //          call this for keyboard inputs sent to the textfield. you can use it
 //          for "key down" events or for "translated" key events. if you need to
@@ -241,7 +243,7 @@
 //          clear. STB_TEXTEDIT_KEYTYPE defaults to int, but you can #define it to
 //          anything other type you wante before including.
 //
-//     
+//
 //   When rendering, you can read the cursor position and selection state from
 //   the STB_TexteditState.
 //
@@ -335,6 +337,10 @@ typedef struct
    // each textfield keeps its own insert mode state. to keep an app-wide
    // insert mode, copy this value in/out of the app state
 
+   int row_count_per_page;
+   // page size in number of row.
+   // this value MUST be set to >0 for pageup or pagedown in multilines documents.
+
    /////////////////////
    //
    // private data
@@ -563,7 +569,6 @@ static void stb_textedit_find_charpos(StbFindState *find, STB_TEXTEDIT_STRING *s
 
    // now scan to find xpos
    find->x = r.x0;
-   i = 0;
    for (i=0; first+i < n; ++i)
       find->x += STB_TEXTEDIT_GETWIDTH(str, first, i);
 }
@@ -693,7 +698,7 @@ static void stb_textedit_prep_selection_at_cursor(STB_TexteditState *state)
 static int stb_textedit_cut(STB_TEXTEDIT_STRING *str, STB_TexteditState *state)
 {
    if (STB_TEXT_HAS_SELECTION(state)) {
-      stb_textedit_delete_selection(str,state); // implicity clamps
+      stb_textedit_delete_selection(str,state); // implicitly clamps
       state->has_preferred_x = 0;
       return 1;
    }
@@ -713,9 +718,7 @@ static int stb_textedit_paste_internal(STB_TEXTEDIT_STRING *str, STB_TexteditSta
       state->has_preferred_x = 0;
       return 1;
    }
-   // remove the undo since we didn't actually insert the characters
-   if (state->undostate.undo_point)
-      --state->undostate.undo_point;
+   // note: paste failure will leave deleted selection, may be restored with an undo (see https://github.com/nothings/stb/issues/734 for details)
    return 0;
 }
 
@@ -745,7 +748,7 @@ retry:
                   state->has_preferred_x = 0;
                }
             } else {
-               stb_textedit_delete_selection(str,state); // implicity clamps
+               stb_textedit_delete_selection(str,state); // implicitly clamps
                if (STB_TEXTEDIT_INSERTCHARS(str, state->cursor, &ch, 1)) {
                   stb_text_makeundo_insert(state, state->cursor, 1);
                   ++state->cursor;
@@ -761,7 +764,7 @@ retry:
          state->insert_mode = !state->insert_mode;
          break;
 #endif
-         
+
       case STB_TEXTEDIT_K_UNDO:
          stb_text_undo(str, state);
          state->has_preferred_x = 0;
@@ -776,7 +779,7 @@ retry:
          // if currently there's a selection, move cursor to start of selection
          if (STB_TEXT_HAS_SELECTION(state))
             stb_textedit_move_to_first(state);
-         else 
+         else
             if (state->cursor > 0)
                --state->cursor;
          state->has_preferred_x = 0;
@@ -825,7 +828,7 @@ retry:
 
 #ifdef STB_TEXTEDIT_MOVEWORDRIGHT
       case STB_TEXTEDIT_K_WORDRIGHT:
-         if (STB_TEXT_HAS_SELECTION(state)) 
+         if (STB_TEXT_HAS_SELECTION(state))
             stb_textedit_move_to_last(str, state);
          else {
             state->cursor = STB_TEXTEDIT_MOVEWORDRIGHT(str, state->cursor);
@@ -854,12 +857,16 @@ retry:
          break;
 
       case STB_TEXTEDIT_K_DOWN:
-      case STB_TEXTEDIT_K_DOWN | STB_TEXTEDIT_K_SHIFT: {
+      case STB_TEXTEDIT_K_DOWN | STB_TEXTEDIT_K_SHIFT:
+      case STB_TEXTEDIT_K_PGDOWN:
+      case STB_TEXTEDIT_K_PGDOWN | STB_TEXTEDIT_K_SHIFT: {
          StbFindState find;
          StbTexteditRow row;
-         int i, sel = (key & STB_TEXTEDIT_K_SHIFT) != 0;
+         int i, j, sel = (key & STB_TEXTEDIT_K_SHIFT) != 0;
+         int is_page = (key & ~STB_TEXTEDIT_K_SHIFT) == STB_TEXTEDIT_K_PGDOWN;
+         int row_count = is_page ? state->row_count_per_page : 1;
 
-         if (state->single_line) {
+         if (!is_page && state->single_line) {
             // on windows, up&down in single-line behave like left&right
             key = STB_TEXTEDIT_K_RIGHT | (key & STB_TEXTEDIT_K_SHIFT);
             goto retry;
@@ -868,17 +875,25 @@ retry:
          if (sel)
             stb_textedit_prep_selection_at_cursor(state);
          else if (STB_TEXT_HAS_SELECTION(state))
-            stb_textedit_move_to_last(str,state);
+            stb_textedit_move_to_last(str, state);
 
          // compute current position of cursor point
          stb_textedit_clamp(str, state);
          stb_textedit_find_charpos(&find, str, state->cursor, state->single_line);
 
-         // now find character position down a row
-         if (find.length) {
-            float goal_x = state->has_preferred_x ? state->preferred_x : find.x;
-            float x;
+         for (j = 0; j < row_count; ++j) {
+            float x, goal_x = state->has_preferred_x ? state->preferred_x : find.x;
             int start = find.first_char + find.length;
+
+            if (find.length == 0)
+               break;
+
+            // [DEAR IMGUI]
+            // going down while being on the last line shouldn't bring us to that line end
+            if (STB_TEXTEDIT_GETCHAR(str, find.first_char + find.length - 1) != STB_TEXTEDIT_NEWLINE)
+               break;
+
+            // now find character position down a row
             state->cursor = start;
             STB_TEXTEDIT_LAYOUTROW(&row, str, state->cursor);
             x = row.x0;
@@ -900,17 +915,25 @@ retry:
 
             if (sel)
                state->select_end = state->cursor;
+
+            // go to next line
+            find.first_char = find.first_char + find.length;
+            find.length = row.num_chars;
          }
          break;
       }
-         
+
       case STB_TEXTEDIT_K_UP:
-      case STB_TEXTEDIT_K_UP | STB_TEXTEDIT_K_SHIFT: {
+      case STB_TEXTEDIT_K_UP | STB_TEXTEDIT_K_SHIFT:
+      case STB_TEXTEDIT_K_PGUP:
+      case STB_TEXTEDIT_K_PGUP | STB_TEXTEDIT_K_SHIFT: {
          StbFindState find;
          StbTexteditRow row;
-         int i, sel = (key & STB_TEXTEDIT_K_SHIFT) != 0;
+         int i, j, prev_scan, sel = (key & STB_TEXTEDIT_K_SHIFT) != 0;
+         int is_page = (key & ~STB_TEXTEDIT_K_SHIFT) == STB_TEXTEDIT_K_PGUP;
+         int row_count = is_page ? state->row_count_per_page : 1;
 
-         if (state->single_line) {
+         if (!is_page && state->single_line) {
             // on windows, up&down become left&right
             key = STB_TEXTEDIT_K_LEFT | (key & STB_TEXTEDIT_K_SHIFT);
             goto retry;
@@ -925,11 +948,14 @@ retry:
          stb_textedit_clamp(str, state);
          stb_textedit_find_charpos(&find, str, state->cursor, state->single_line);
 
-         // can only go up if there's a previous row
-         if (find.prev_first != find.first_char) {
+         for (j = 0; j < row_count; ++j) {
+            float  x, goal_x = state->has_preferred_x ? state->preferred_x : find.x;
+
+            // can only go up if there's a previous row
+            if (find.prev_first == find.first_char)
+               break;
+
             // now find character position up a row
-            float goal_x = state->has_preferred_x ? state->preferred_x : find.x;
-            float x;
             state->cursor = find.prev_first;
             STB_TEXTEDIT_LAYOUTROW(&row, str, state->cursor);
             x = row.x0;
@@ -951,6 +977,14 @@ retry:
 
             if (sel)
                state->select_end = state->cursor;
+
+            // go to previous line
+            // (we need to scan previous line the hard way. maybe we could expose this as a new API function?)
+            prev_scan = find.prev_first > 0 ? find.prev_first - 1 : 0;
+            while (prev_scan > 0 && STB_TEXTEDIT_GETCHAR(str, prev_scan - 1) != STB_TEXTEDIT_NEWLINE)
+               --prev_scan;
+            find.first_char = find.prev_first;
+            find.prev_first = prev_scan;
          }
          break;
       }
@@ -980,7 +1014,7 @@ retry:
          }
          state->has_preferred_x = 0;
          break;
-         
+
 #ifdef STB_TEXTEDIT_K_TEXTSTART2
       case STB_TEXTEDIT_K_TEXTSTART2:
 #endif
@@ -997,7 +1031,7 @@ retry:
          state->select_start = state->select_end = 0;
          state->has_preferred_x = 0;
          break;
-        
+
 #ifdef STB_TEXTEDIT_K_TEXTSTART2
       case STB_TEXTEDIT_K_TEXTSTART2 | STB_TEXTEDIT_K_SHIFT:
 #endif
@@ -1074,10 +1108,6 @@ retry:
          state->has_preferred_x = 0;
          break;
       }
-
-// @TODO:
-//    STB_TEXTEDIT_K_PGUP      - move cursor up a page
-//    STB_TEXTEDIT_K_PGDOWN    - move cursor down a page
    }
 }
 
@@ -1133,7 +1163,14 @@ static void stb_textedit_discard_redo(StbUndoState *state)
                state->undo_rec[i].char_storage += n;
       }
       // now move all the redo records towards the end of the buffer; the first one is at 'redo_point'
-      STB_TEXTEDIT_memmove(state->undo_rec + state->redo_point+1, state->undo_rec + state->redo_point, (size_t) ((STB_TEXTEDIT_UNDOSTATECOUNT - state->redo_point)*sizeof(state->undo_rec[0])));
+      // [DEAR IMGUI]
+      size_t move_size = (size_t)((STB_TEXTEDIT_UNDOSTATECOUNT - state->redo_point - 1) * sizeof(state->undo_rec[0]));
+      const char* buf_begin = (char*)state->undo_rec; (void)buf_begin;
+      const char* buf_end   = (char*)state->undo_rec + sizeof(state->undo_rec); (void)buf_end;
+      IM_ASSERT(((char*)(state->undo_rec + state->redo_point)) >= buf_begin);
+      IM_ASSERT(((char*)(state->undo_rec + state->redo_point + 1) + move_size) <= buf_end);
+      STB_TEXTEDIT_memmove(state->undo_rec + state->redo_point+1, state->undo_rec + state->redo_point, move_size);
+
       // now move redo_point to point to the new one
       ++state->redo_point;
    }
@@ -1342,6 +1379,7 @@ static void stb_textedit_clear_state(STB_TexteditState *state, int is_single_lin
    state->initialized = 1;
    state->single_line = (unsigned char) is_single_line;
    state->insert_mode = 0;
+   state->row_count_per_page = 0;
 }
 
 // API initialize
@@ -1372,38 +1410,38 @@ This software is available under 2 licenses -- choose whichever you prefer.
 ------------------------------------------------------------------------------
 ALTERNATIVE A - MIT License
 Copyright (c) 2017 Sean Barrett
-Permission is hereby granted, free of charge, to any person obtaining a copy of 
-this software and associated documentation files (the "Software"), to deal in 
-the Software without restriction, including without limitation the rights to 
-use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies 
-of the Software, and to permit persons to whom the Software is furnished to do 
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+of the Software, and to permit persons to whom the Software is furnished to do
 so, subject to the following conditions:
-The above copyright notice and this permission notice shall be included in all 
+The above copyright notice and this permission notice shall be included in all
 copies or substantial portions of the Software.
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
 ------------------------------------------------------------------------------
 ALTERNATIVE B - Public Domain (www.unlicense.org)
 This is free and unencumbered software released into the public domain.
-Anyone is free to copy, modify, publish, use, compile, sell, or distribute this 
-software, either in source code form or as a compiled binary, for any purpose, 
+Anyone is free to copy, modify, publish, use, compile, sell, or distribute this
+software, either in source code form or as a compiled binary, for any purpose,
 commercial or non-commercial, and by any means.
-In jurisdictions that recognize copyright laws, the author or authors of this 
-software dedicate any and all copyright interest in the software to the public 
-domain. We make this dedication for the benefit of the public at large and to 
-the detriment of our heirs and successors. We intend this dedication to be an 
-overt act of relinquishment in perpetuity of all present and future rights to 
+In jurisdictions that recognize copyright laws, the author or authors of this
+software dedicate any and all copyright interest in the software to the public
+domain. We make this dedication for the benefit of the public at large and to
+the detriment of our heirs and successors. We intend this dedication to be an
+overt act of relinquishment in perpetuity of all present and future rights to
 this software under copyright law.
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 
-AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN 
-ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION 
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 ------------------------------------------------------------------------------
 */

lib/implot/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2020 Evan Pezent
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

lib/implot/README.md

@@ -0,0 +1,166 @@
+# ImPlot
+ImPlot is an immediate mode, GPU accelerated plotting library for [Dear ImGui](https://github.com/ocornut/imgui). It aims to provide a first-class API that ImGui fans will love. ImPlot is well suited for visualizing program data in real-time or creating interactive plots, and requires minimal code to integrate. Just like ImGui, it does not burden the end user with GUI state management, avoids STL containers and C++ headers, and has no external dependencies except for ImGui itself.
+
+<img src="https://raw.githubusercontent.com/wiki/epezent/implot/screenshots3/controls.gif" width="270"> <img src="https://raw.githubusercontent.com/wiki/epezent/implot/screenshots3/dnd.gif" width="270"> <img src="https://raw.githubusercontent.com/wiki/epezent/implot/screenshots3/pie.gif" width="270">
+
+<img src="https://raw.githubusercontent.com/wiki/epezent/implot/screenshots3/query.gif" width="270"> <img src="https://raw.githubusercontent.com/wiki/epezent/implot/screenshots3/bars.gif" width="270">
+<img src="https://raw.githubusercontent.com/wiki/epezent/implot/screenshots3/rt.gif" width="270">
+
+<img src="https://raw.githubusercontent.com/wiki/epezent/implot/screenshots3/stem.gif" width="270"> <img src="https://raw.githubusercontent.com/wiki/epezent/implot/screenshots3/markers.gif" width="270">
+<img src="https://raw.githubusercontent.com/wiki/epezent/implot/screenshots3/shaded.gif" width="270">
+
+<img src="https://raw.githubusercontent.com/wiki/epezent/implot/screenshots3/candle.gif" width="270"> <img src="https://raw.githubusercontent.com/wiki/epezent/implot/screenshots3/heat.gif" width="270">
+<img src="https://raw.githubusercontent.com/wiki/epezent/implot/screenshots3/tables.gif" width="270">
+
+## Features
+
+- GPU accelerated rendering
+- multiple plot types:
+    - line plots
+    - shaded plots
+    - scatter plots
+    - vertical/horizontal/stacked bars graphs
+    - vertical/horizontal error bars
+    - stem plots
+    - stair plots
+    - pie charts
+    - heatmap charts
+    - 1D/2D histograms
+    - images
+    - and more likely to come
+- mix/match multiple plot items on a single plot
+- configurable axes ranges and scaling (linear/log)
+- subplots
+- time formatted x-axes (US formatted or ISO 8601)
+- reversible and lockable axes
+- multiple x-axes and y-axes
+- controls for zooming, panning, box selection, and auto-fitting data
+- controls for creating persistent query ranges (see demo)
+- several plot styling options: 10 marker types, adjustable marker sizes, line weights, outline colors, fill colors, etc.
+- 16 built-in colormaps and support for and user-added colormaps
+- optional plot titles, axis labels, and grid labels
+- optional and configurable legends with toggle buttons to quickly show/hide plot items
+- default styling based on current ImGui theme, or completely custom plot styles
+- customizable data getters and data striding (just like ImGui:PlotLine)
+- accepts data as float, double, and 8, 16, 32, and 64-bit signed/unsigned integral types
+- and more! (see Announcements [2020](https://github.com/epezent/implot/issues/48)/[2021](https://github.com/epezent/implot/issues/168))
+
+## Usage
+
+The API is used just like any other ImGui `BeginX`/`EndX` pair. First, start a new plot with `ImPlot::BeginPlot()`. Next, plot as many items as you want with the provided `PlotX` functions (e.g. `PlotLine()`, `PlotBars()`, `PlotScatter()`, etc). Finally, wrap things up with a call to `ImPlot::EndPlot()`. That's it!
+
+```cpp
+int   bar_data[11] = ...;
+float x_data[1000] = ...;
+float y_data[1000] = ...;
+
+ImGui::Begin("My Window");
+if (ImPlot::BeginPlot("My Plot")) {
+    ImPlot::PlotBars("My Bar Plot", bar_data, 11);
+    ImPlot::PlotLine("My Line Plot", x_data, y_data, 1000);
+    ...
+    ImPlot::EndPlot();
+}
+ImGui::End();
+```
+
+![Usage](https://raw.githubusercontent.com/wiki/epezent/implot/screenshots3/example.PNG)
+
+
+Of course, there's much more you can do with ImPlot... 
+
+## Demos
+
+A comprehensive example of ImPlot's features can be found in `implot_demo.h`. Add this file to your sources and call `ImPlot::ShowDemoWindow()` somewhere in your update loop. You are encouraged to use this file as a reference when needing to implement various plot types. The demo is always updated to show new plot types and features as they are added, so check back with each release!
+
+An online version of the demo is hosted [here](https://traineq.org/implot_demo/src/implot_demo.html). You can view the plots and the source code that generated them. Note that this demo may not always be up to date and is not as performant as a desktop implementation, but it should give you a general taste of what's possible with ImPlot. Special thanks to [pthom](https://github.com/pthom) for creating and hosting this!
+
+More sophisticated demos requiring lengthier code and/or third-party libraries can be found in a separate repository: [implot_demos](https://github.com/epezent/implot_demos). Here, you will find advanced signal processing and ImPlot usage in action. Please read the `Contributing` section of that repository if you have an idea for a new demo!
+
+## Integration
+
+0) Set up an [ImGui](https://github.com/ocornut/imgui) environment if you don't already have one.
+1) Add `implot.h`, `implot_internal.h`, `implot.cpp`, `implot_items.cpp` and optionally `implot_demo.cpp` to your sources. Alternatively, you can get ImPlot using [vcpkg](https://github.com/microsoft/vcpkg/tree/master/ports/implot).
+2) Create and destroy an `ImPlotContext` wherever you do so for your `ImGuiContext`:
+
+```cpp
+ImGui::CreateContext();
+ImPlot::CreateContext();
+...
+ImPlot::DestroyContext();
+ImGui::DestroyContext();
+```
+
+You should be good to go!
+
+If you want to test ImPlot quickly, consider trying [mahi-gui](https://github.com/mahilab/mahi-gui), which bundles ImGui, ImPlot, and several other packages for you.
+
+## Extremely Important Note
+
+Dear ImGui uses **16-bit indexing by default**, so high-density ImPlot widgets like `ImPlot::PlotHeatmap()` may produce too many vertices into `ImDrawList`, which causes an assertion failure and will result in data truncation and/or visual glitches. Therefore, it is **HIGHLY** recommended that you EITHER:
+
+- **Option 1:** Enable 32-bit indices by uncommenting `#define ImDrawIdx unsigned int` in your ImGui [`imconfig.h`](https://github.com/ocornut/imgui/blob/master/imconfig.h#L89) file.
+- **Option 2:** Handle the `ImGuiBackendFlags_RendererHasVtxOffset` flag in your renderer if you must use 16-bit indices. Many of the default ImGui rendering backends already support `ImGuiBackendFlags_RendererHasVtxOffset`. Refer to [this issue](https://github.com/ocornut/imgui/issues/2591) for more information.
+
+## FAQ
+
+**Q: Why?**
+
+A: ImGui is an incredibly powerful tool for rapid prototyping and development, but provides only limited mechanisms for data visualization. Two dimensional plots are ubiquitous and useful to almost any application. Being able to visualize your data in real-time will give you insight and better understanding of your application.
+
+**Q: Is ImPlot the right plotting library for me?**
+
+A: If you're looking to generate publication quality plots and/or export plots to a file, ImPlot is NOT the library for you! ImPlot is geared toward plotting application data at realtime speeds with high levels of interactivity. ImPlot does its best to create pretty plots (indeed, there are quite a few styling options available), but it will always favor function over form.
+
+**Q: Where is the documentation?**
+
+A: The API is thoroughly commented in `implot.h`, and the demo in `implot_demo.cpp` should be more than enough to get you started. Also take a look at the [implot_demos](https://github.com/epezent/implot_demos) repository.
+
+**Q: Is ImPlot suitable for plotting large datasets?**
+
+A: Yes, within reason. You can plot tens to hundreds of thousands of points without issue, but don't expect millions to be a buttery smooth experience. That said, you can always downsample extremely large datasets by telling ImPlot to stride your data at larger intervals if needed. Also try the experimental `backends` branch which aims to provide GPU acceleration support.
+
+**Q: What data types can I plot?**
+
+A: ImPlot plotting functions accept most scalar types:
+`float`, `double`, `int8`, `uint8`, `int16`, `uint16`, `int32`, `uint32`, `int64`, `uint64`. Arrays of custom structs or classes (e.g. `Vector2f` or similar) are easily passed to ImPlot functions using the built in striding features (see `implot.h` for documentation), and many plotters provide a "getter" overload which accepts data generating callbacks.
+
+**Q: Can plot styles be modified?**
+
+A: Yes. Data colormaps and various styling colors and variables can be pushed/popped or modified permanently on startup. Three default styles are available, as well as an automatic style that attempts to match you ImGui style.
+
+**Q: Does ImPlot support logarithmic scaling or time formatting?**
+
+A: Yep! Both logscale and timescale are supported.
+
+**Q: Does ImPlot support multiple y-axes? x-axes?**
+
+A: Yes. Up to three x-axes and three y-axes can be enabled.
+
+**Q: Does ImPlot support [insert plot type]?**
+
+A: Maybe. Check the demo, gallery, or Announcements ([2020](https://github.com/epezent/implot/issues/48)/[2021](https://github.com/epezent/implot/issues/168))to see if your desired plot type is shown. If not, consider submitting an issue or better yet, a PR!
+
+**Q: Does ImPlot support 3D plots?**
+
+A: No, and likely never will since ImGui only deals in 2D rendering.
+
+**Q: My plot lines look like crap!**
+
+A: By default, no anti-aliasing is done on line plots for performance gains. If you use at least 4x MSAA, then you likely won't even notice. However, you can enable software AA per-plot with the `ImPlotFlags_AntiAliased` flag, or globally with `ImPlot::GetStyle().AntiAliasedLines = true;`.
+
+**Q: Does ImPlot provide analytic tools?**
+
+A: Not exactly, but it does give you the ability to query plot sub-ranges, with which you can process your data however you like.
+
+**Q: Can plots be exported/saved to image?**
+
+A: Not currently. Use your OS's screen capturing mechanisms if you need to capture a plot. ImPlot is not suitable for rendering publication quality plots; it is only intended to be used as a visualization tool. Post-process your data with MATLAB or matplotlib for these purposes.
+
+**Q: Can I compile ImPlot as a dynamic library?**
+
+A: Like ImGui, it is recommended that you compile and link ImPlot as a *static* library or directly as a part of your sources. However, if you must and are compiling ImPlot and ImGui as separate DLLs, make sure you set the current *ImGui* context with `ImPlot::SetImGuiContext(ImGuiContext* ctx)`. This ensures that global ImGui variables are correctly shared across the DLL boundary.
+
+**Q: Can ImPlot be used with other languages/bindings?**
+
+A: Yes, you can use the generated C binding, [cimplot](https://github.com/cimgui/cimplot) with most high level languages. [DearPyGui](https://github.com/hoffstadt/DearPyGui) provides a Python wrapper, among other things. [imgui-java](https://github.com/SpaiR/imgui-java) provides bindings for Java. A Rust binding, [implot-rs](https://github.com/4bb4/implot-rs), is currently in the works. An example using Emscripten can be found [here](https://github.com/pthom/implot_demo).

lib/implot/TODO.md

@@ -0,0 +1,69 @@
+The list below represents a combination of high-priority work, nice-to-have features, and random ideas. We make no guarantees that all of this work will be completed or even started. If you see something that you need or would like to have, let us know, or better yet consider submitting a PR for the feature.
+
+## API
+
+- add shortcut/legacy overloads for BeginPlot
+
+## Axes
+
+- add flag to remove weekends on Time axis
+- pixel space scale (`ImPlotTransform_Display`), normalized space scale (`ImPlotTransform_Axes`), data space scale (`ImPloTransform_Data`)
+- make ImPlotFlags_Equal not a flag -> `SetupEqual(ImPlotAxis x, ImPlotAxis y)`
+- allow inverted arguments `SetAxes` to transpose data?
+- `SetupAxisColors()`
+- `SetupAxisConstraints()`
+- `SetupAxisHome()`
+
+## Plot Items
+
+- add `ImPlotLineFlags`, `ImPlotBarsFlags`, etc. for each plot type
+- add `PlotBarGroups` wrapper that makes rendering groups of bars easier, with stacked bar support
+- add `PlotBubbles` (see MATLAB bubble chart)
+- add non-zero references for `PlotBars` etc.
+- add exploding to `PlotPieChart` (on hover-highlight?)
+
+## Styling
+
+- support gradient and/or colormap sampled fills (e.g. ImPlotFillStyle_)
+- add hover/active color for plot axes
+- API for setting different fonts for plot elements
+
+## Colormaps
+
+- gradient editing tool
+- `RemoveColormap`
+
+## Legend
+
+- `ImPlotLegendFlags_SortItems`
+- `ImPlotLegendFlags_Scroll`
+- improve legend icons (e.g. adopt markers, gradients, etc)
+- make legend frame use ButtonBehavior (maybe impossible)
+
+## Tools / Misc.
+
+- add `IsPlotChanging` to detect change in limits
+- add ability to extend plot/axis context menus
+- add LTTB downsampling for lines
+- add box selection to axes
+- first frame render delay might fix "fit pop" effect
+- move some code to new `implot_tools.cpp`
+
+## Optimizations
+
+- find faster way to buffer data into ImDrawList (very slow)
+- reduce number of calls to `PushClipRect`
+- explore SIMD operations for high density plot items
+
+## Completed
+- make BeginPlot take fewer args:
+- make query a tool -> `DragRect`
+- rework DragLine/Point to use ButtonBehavior
+- add support for multiple x-axes and don't limit count to 3
+- make axis side configurable (top/left, right/bottom) via new flag `ImPlotAxisFlags_Opposite`
+- add support for setting tick label strings via callback
+- give each axis an ID, remove ad-hoc DND solution
+- allow axis to be drag to opposite side (ala ImGui Table headers)
+- legend items can be hovered even if plot is not
+- fix frame delay on DragX tools
+- remove tag from drag line/point -> add `Tag` tool