Some animation adjustments, WIP UDP server

anim.js

@@ -17,7 +17,7 @@ var FOV = 90;
 var width = 6;
 
 // Limit stevila objektov
-var obj_limit = 1000;
+var obj_limit = 10;
 
 // Prvotno prazno polje objektov. Lahko bi kak buffer to bil pozneje
 var objekti = [];
@@ -57,10 +57,14 @@ var qWWo = new THREE.Quaternion(-1, 0, 0, 0);
 var qWWd = new THREE.Quaternion(-1, 0, 0, 0);
 var qObj = new THREE.Quaternion(-1, 0, 0, 0);
 var qStart = new THREE.Quaternion(-1, 0, 0, 0);
-var qCalibrate = new THREE.Quaternion();
 var calibrate = true;
 var reset = false;
 
+// Razlika v eulerjih
+var dqX = 0;
+var dqY = 0;
+var dqZ = 0;
+
 // Gumbi in pa pospesek
 var keysPressed = [0, 0, 0, 0];
 var accel = [0, 0, 0];
@@ -128,8 +132,9 @@ function modulirajParametre() {
     drotacijaZ += qWWd.z / 10;
   }
   if (keysPressed[0]) {
-    width += qWWd.x * 10;
+    width *= 1 + (dqY / 3);
-    barva_mod += qWW.y / 10000;
+    barva_mod += (dqX / 30);
+    obj_limit *= 1 + (dqZ / 3);
   }
 }
 
@@ -226,14 +231,134 @@ function onWindowResize() {
 window.addEventListener('resize', onWindowResize, false);
 
 
-const getVal = function (msg) {
+function getVal(msg) {
   return msg.value;
 }
 
-oscCallbacks = {
+kbdPressed = {
+  a: false,
+  s: false,
+  d: false,
+  f: false
+};
+
+window.addEventListener('keydown', (e) => {
+  kbdPressed[e.key] = true;
+})
+
+window.addEventListener('keyup', (e) => {
+  if (e.key in kbdPressed) {
+    kbdPressed[e.key] = false;
+  }
+})
+
+function eulerFromQuaternion( quaternion, order ) {
+    // Quaternion to matrix.
+    const w = quaternion[0], x = quaternion[1], y = quaternion[2], z = quaternion[3];
+    const x2 = x + x, y2 = y + y, z2 = z + z;
+    const xx = x * x2, xy = x * y2, xz = x * z2;
+    const yy = y * y2, yz = y * z2, zz = z * z2;
+    const wx = w * x2, wy = w * y2, wz = w * z2;
+    const matrix = [
+        1 - ( yy + zz ),
+        xy + wz,
+        xz - wy,
+        0,
+        xy - wz,
+        1 - ( xx + zz ),
+        yz + wx,
+        0,
+        xz + wy,
+        yz - wx,
+        1 - ( xx + yy ),
+        0,
+        0,
+        0,
+        0,
+        1
+    ];
+    // Matrix to euler
+    function clamp( value, min, max ) {
+        return Math.max( min, Math.min( max, value ) );
+    }
+    const m11 = matrix[ 0 ], m12 = matrix[ 4 ], m13 = matrix[ 8 ];
+    const m21 = matrix[ 1 ], m22 = matrix[ 5 ], m23 = matrix[ 9 ];
+    const m31 = matrix[ 2 ], m32 = matrix[ 6 ], m33 = matrix[ 10 ];
+    var euler = [ 0, 0, 0 ];
+    switch ( order ) {
+        case "XYZ":
+            euler[1] = Math.asin( clamp( m13, - 1, 1 ) );
+            if ( Math.abs( m13 ) < 0.9999999 ) {
+                euler[0] = Math.atan2( - m23, m33 );
+                euler[2] = Math.atan2( - m12, m11 );
+            } else {
+                euler[0] = Math.atan2( m32, m22 );
+                euler[2] = 0;
+            }
+            break;
+        case "YXZ":
+            euler[0] = Math.asin( - clamp( m23, - 1, 1 ) );
+            if ( Math.abs( m23 ) < 0.9999999 ) {
+                euler[1] = Math.atan2( m13, m33 );
+                euler[2] = Math.atan2( m21, m22 );
+            } else {
+                euler[1] = Math.atan2( - m31, m11 );
+                euler[2] = 0;
+            }
+            break;
+        case "ZXY":
+            euler[0] = Math.asin( clamp( m32, - 1, 1 ) );
+            if ( Math.abs( m32 ) < 0.9999999 ) {
+                euler[1] = Math.atan2( - m31, m33 );
+                euler[2] = Math.atan2( - m12, m22 );
+            } else {
+                euler[1] = 0;
+                euler[2] = Math.atan2( m21, m11 );
+            }
+            break;
+        case "ZYX":
+            euler[1] = Math.asin( - clamp( m31, - 1, 1 ) );
+            if ( Math.abs( m31 ) < 0.9999999 ) {
+                euler[0] = Math.atan2( m32, m33 );
+                euler[2] = Math.atan2( m21, m11 );
+            } else {
+                euler[0] = 0;
+                euler[2] = Math.atan2( - m12, m22 );
+            }
+            break;
+        case "YZX":
+            euler[2] = Math.asin( clamp( m21, - 1, 1 ) );
+            if ( Math.abs( m21 ) < 0.9999999 ) {
+                euler[0] = Math.atan2( - m23, m22 );
+                euler[1] = Math.atan2( - m31, m11 );
+            } else {
+                euler[0] = 0;
+                euler[1] = Math.atan2( m13, m33 );
+            }
+            break;
+        case "XZY":
+            euler[2] = Math.asin( - clamp( m12, - 1, 1 ) );
+            if ( Math.abs( m12 ) < 0.9999999 ) {
+                euler[0] = Math.atan2( m32, m22 );
+                euler[1] = Math.atan2( m13, m11 );
+            } else {
+                euler[0] = Math.atan2( - m23, m33 );
+                euler[1] = 0;
+            }
+            break;
+    }
+    return euler;
+}
+
+var oscCallbacks = {
   '/keys/': [
     function(args) {
       keysPressed = args.map(getVal);
+      keysPressed[0] |= kbdPressed['a'];
+      keysPressed[1] |= kbdPressed['s'];
+      keysPressed[2] |= kbdPressed['d'];
+      keysPressed[3] |= kbdPressed['f'];
+      //console.log(keysPressed, kbdPressed);
     }
   ],
   '/quaternion/': [
@@ -247,6 +372,11 @@ oscCallbacks = {
       qWWd = qWW.clone();
       qWWd.conjugate();
       qWWd.multiply(qWWo);
+
+      var euler = eulerFromQuaternion([qWWd.w, qWWd.z, qWWd.x, qWWd.y], 'XYZ');
+      dqX = euler[0];
+      dqY = euler[1];
+      dqZ = euler[2];
     }
   ],
   /*

scosc2.scd

@@ -1,15 +1,39 @@
 s.boot();
 
-~gW = 0;
+(
+~gW = -1;
 ~gX = 0;
 ~gY = 0;
 ~gZ = 0;
 
+~dgW = -1;
+~dgX = 0;
+~dgY = 0;
+~dgZ = 0;
+
+~oW = -1;
+~oX = 0;
+~oY = 0;
+~oZ = 0;
+
+~euler;
+
+~calibrate = true;
+
+~quaternionToEuler = { |q|
+		var euler = Array.newClear(3);
+		euler[0] = atan2( (2 * q[1] * q[2]) - (2 * q[0] * q[3]), (2 * q[0]*q[0]) + (2 * q[1] * q[1]) - 1); // psi
+		euler[1] = asin( (2 * q[1] * q[3]) + (2 * q[0] * q[2])).neg; // theta
+		euler[2] = atan2( (2 * q[2] * q[3]) - (2 * q[0] * q[1]), (2 * q[0] * q[0]) + (2 * q[3] * q[3]) - 1); // phi
+		euler.raddeg
+	}
+)
+
 (
 z = {
 	arg f=440, amp=1, phase=0;
 	var so;
-	so = SinOsc.ar(f, phase) * amp;
+	so = VarSaw.ar(f, phase) * amp;
 }.play;
 )
 
@@ -17,23 +41,90 @@ z = {
 y = {
 	arg f=440, amp=1, phase=0;
 	var so;
-	so = SinOsc.ar(f, phase) * amp;
+	so = VarSaw.ar(f, phase) * amp;
 }.play;
 )
 
+(
+w = {
+	arg fa=1, fb=1, fc=1;
+	var so;
+	so = VarSaw.ar(LFPulse.kr(fa, 0, 0.3, 200 * fb, 200 * fc), 0, 0.2, 0.1)
+}.play;
+);
+
+
 // WW
 // Receiver function
 (
 o = OSCFunc({
 	arg msg, time, addr, recvPort;
+
+	~oW = ~gW;
+	~oX = ~gX;
+	~oY = ~gY;
+	~oZ = ~gZ;
+
 	//[msg, time, addr, recvPort].postln;
-	~gX = msg[1];
+	~gW = msg[1];
-	~gY = msg[2];
+	~gZ = msg[2];
-	~gZ = msg[3];
+	~gX = msg[3];
-	~gW = msg[0];
+	~gY = msg[0];
-	z.set(\f, ~gX * 800);
+
-	y.set(\f, ~gY * 800);
+	~gX = ~gX * -1;
-	y.set(\phase, ~gZ);
+	~gZ = ~gZ * -1;
+	//z.set(\f, ~gX * 800);
+	//y.set(\f, ~gY * 800);
+	//y.set(\phase, ~gZ);
+	//w.set(\f1, ~gX);
+	//w.set(\f2, ~gY);
+	//w.set(\f3, ~gZ);
+
+	~dgW = ~gW;
+	~dgX = -1 * ~gX;
+	~dgY = -1 * ~gY;
+	~dgZ = -1 * ~gZ;
+
+	~dgW = (~dgW * ~oW) - (~dgX * ~oX) - (~oY * ~oY) - (~dgZ * ~oZ);
+	~dgX = (~dgW * ~oX) - (~dgX * ~oW) - (~dgY * ~oZ) - (~dgZ * ~oY);
+	~dgY = (~dgW * ~oY) - (~dgX * ~oZ) - (~dgY * ~oW) - (~dgZ * ~oX);
+	~dgZ = (~dgW * ~oZ) - (~dgX * ~oY) - (~dgY * ~oX) - (~dgZ * ~oW);
+
+	~euler = ~quaternionToEuler.([~dgW, ~dgX, ~dgY, ~dgZ]);
+	~euler.postln;
 }, '/quaternion/', n);
 )
 // ENDWW
+
+
+
+
+
+
+
+MIDIClient.init;
+
+MIDIFunc.trace(false);
+(
+MIDIdef(\tMidi, {
+	arg msg;
+	msg.postln;
+	z.set(\f, msg * 100);
+}, 10, 0, \control)
+)
+
+(
+MIDIdef(\tMidi, {
+	arg msg;
+	msg.postln;
+	z.set(\fb, msg);
+}, 11, 0, \control)
+)
+
+(
+MIDIdef(\tMidi, {
+	arg msg;
+	msg.postln;
+	z.set(\fc, msg);
+}, 12, 0, \control)
+)

server.js

@@ -114,11 +114,13 @@ function openBT() {
   })
 }
 
+if (tty) {
   if (baudrate) {
     openSerial(baudrate)
   } else {
     openBT()
   }
+}
 
 app.get('/', (req, res) => {
     res.sendFile(__dirname + '/index.html');
@@ -149,12 +151,23 @@ server.listen(port, () => console.log('listening on *:' + port))
 const wss = new WebSocket.Server({ server })
 
 const scudp = new osc.UDPPort({
-  remoteAddr: '127.0.0.1',
+  multicastMembership: ['224.0.1.9'],
-  remotePort: 57120
+  remotePort: 6696,
+  multicastTTL: 10,
+  metadata: true
 })
 scudp.on('open', () => {
   console.log("UDP to OSC open")
 })
+scudp.on('message', (msg) => {
+  console.log('got UDP msg', msg);
+  osclients.forEach( client => {
+    if (client) {
+      //console.log("sending", msg, info)
+      client.send(msg)
+    }
+  })
+})
 scudp.open()
 
 const sendAll = (msg, info, oscWS, osclients) => {