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commit b66303e26aa537dd74d6abaeeeded81c151a7e35 Author: Alan Carvalho de Assis <[email protected]> AuthorDate: Thu Sep 24 09:57:25 2026 -0300 examples/tinygl: add TinyGL gears demo Render Brian Paul's classic OpenGL "gears" demo with TinyGL on a NuttX framebuffer device. TinyGL draws each frame into its own ZBuffer, which is then copied to the mmap()ed framebuffer (plus FBIO_UPDATE when CONFIG_FB_UPDATE is enabled), so partially drawn frames are never shown. The frame rate is printed every five seconds. Usage: tinygl [frames] [fbdev] Tested on sim:tinygl (640x480, 32 bpp): about 1400 FPS with CONFIG_DEBUG_FULLOPT on an x86_64 host, with both make and CMake. Assisted-By: Claude Opus 5.5 (1M context) Signed-off-by: Alan Carvalho de Assis <[email protected]> --- examples/tinygl/CMakeLists.txt | 37 +++ examples/tinygl/Kconfig | 38 +++ examples/tinygl/Make.defs | 25 ++ examples/tinygl/Makefile | 36 +++ examples/tinygl/tinygl_main.c | 532 +++++++++++++++++++++++++++++++++++++++++ 5 files changed, 668 insertions(+) diff --git a/examples/tinygl/CMakeLists.txt b/examples/tinygl/CMakeLists.txt new file mode 100644 index 000000000..7078261a7 --- /dev/null +++ b/examples/tinygl/CMakeLists.txt @@ -0,0 +1,37 @@ +# ############################################################################## +# apps/examples/tinygl/CMakeLists.txt +# +# SPDX-License-Identifier: Apache-2.0 +# +# Licensed to the Apache Software Foundation (ASF) under one or more contributor +# license agreements. See the NOTICE file distributed with this work for +# additional information regarding copyright ownership. The ASF licenses this +# file to you under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. +# +# ############################################################################## + +if(CONFIG_EXAMPLES_TINYGL) + nuttx_add_application( + NAME + ${CONFIG_EXAMPLES_TINYGL_PROGNAME} + SRCS + tinygl_main.c + STACKSIZE + ${CONFIG_EXAMPLES_TINYGL_STACKSIZE} + PRIORITY + ${CONFIG_EXAMPLES_TINYGL_PRIORITY} + MODULE + ${CONFIG_EXAMPLES_TINYGL} + DEPENDS + tinygl) +endif() diff --git a/examples/tinygl/Kconfig b/examples/tinygl/Kconfig new file mode 100644 index 000000000..a6f6b70cf --- /dev/null +++ b/examples/tinygl/Kconfig @@ -0,0 +1,38 @@ +# +# For a description of the syntax of this configuration file, +# see the file kconfig-language.txt in the NuttX tools repository. +# + +config EXAMPLES_TINYGL + tristate "TinyGL gears demo" + default n + depends on GRAPHICS_TINYGL && VIDEO_FB + ---help--- + Render the classic OpenGL "gears" demo with TinyGL on a framebuffer + device. The framebuffer must use the same pixel format as TinyGL + (RGB32 or RGB565, see CONFIG_TINYGL_RENDER_BITS_*). + + Usage: tinygl [frames] [fbdev] + +if EXAMPLES_TINYGL + +config EXAMPLES_TINYGL_DEFAULTFB + string "Default framebuffer driver" + default "/dev/fb0" + +config EXAMPLES_TINYGL_PROGNAME + string "Program name" + default "tinygl" + ---help--- + This is the name of the program that will be used when the NSH ELF + program is installed. + +config EXAMPLES_TINYGL_PRIORITY + int "Task priority" + default 100 + +config EXAMPLES_TINYGL_STACKSIZE + int "Stack size" + default 16384 + +endif diff --git a/examples/tinygl/Make.defs b/examples/tinygl/Make.defs new file mode 100644 index 000000000..e0fa1e479 --- /dev/null +++ b/examples/tinygl/Make.defs @@ -0,0 +1,25 @@ +############################################################################ +# apps/examples/tinygl/Make.defs +# +# SPDX-License-Identifier: Apache-2.0 +# +# Licensed to the Apache Software Foundation (ASF) under one or more +# contributor license agreements. See the NOTICE file distributed with +# this work for additional information regarding copyright ownership. The +# ASF licenses this file to you under the Apache License, Version 2.0 (the +# "License"); you may not use this file except in compliance with the +# License. You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations +# under the License. +# +############################################################################ + +ifneq ($(CONFIG_EXAMPLES_TINYGL),) +CONFIGURED_APPS += $(APPDIR)/examples/tinygl +endif diff --git a/examples/tinygl/Makefile b/examples/tinygl/Makefile new file mode 100644 index 000000000..b4939f4fc --- /dev/null +++ b/examples/tinygl/Makefile @@ -0,0 +1,36 @@ +############################################################################ +# apps/examples/tinygl/Makefile +# +# SPDX-License-Identifier: Apache-2.0 +# +# Licensed to the Apache Software Foundation (ASF) under one or more +# contributor license agreements. See the NOTICE file distributed with +# this work for additional information regarding copyright ownership. The +# ASF licenses this file to you under the Apache License, Version 2.0 (the +# "License"); you may not use this file except in compliance with the +# License. You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations +# under the License. +# +############################################################################ + +include $(APPDIR)/Make.defs + +# TinyGL gears demo built-in application info + +PROGNAME = $(CONFIG_EXAMPLES_TINYGL_PROGNAME) +PRIORITY = $(CONFIG_EXAMPLES_TINYGL_PRIORITY) +STACKSIZE = $(CONFIG_EXAMPLES_TINYGL_STACKSIZE) +MODULE = $(CONFIG_EXAMPLES_TINYGL) + +# TinyGL gears demo + +MAINSRC = tinygl_main.c + +include $(APPDIR)/Application.mk diff --git a/examples/tinygl/tinygl_main.c b/examples/tinygl/tinygl_main.c new file mode 100644 index 000000000..9da6ffecf --- /dev/null +++ b/examples/tinygl/tinygl_main.c @@ -0,0 +1,532 @@ +/**************************************************************************** + * apps/examples/tinygl/tinygl_main.c + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/* The gear drawing code is based on the classic "gears" demo by Brian Paul, + * which is in the public domain, as shipped with TinyGL in + * Raw_Demos/gears.c. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <sys/ioctl.h> +#include <sys/mman.h> +#include <sys/time.h> + +#include <errno.h> +#include <fcntl.h> +#include <math.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <unistd.h> + +#include <nuttx/video/fb.h> + +#include <GL/gl.h> +#include <zbuffer.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#ifndef M_PI +# define M_PI 3.14159265358979323846 +#endif + +#if TGL_FEATURE_RENDER_BITS == 32 +# define TINYGL_FB_FMT FB_FMT_RGB32 +# define TINYGL_ZB_MODE ZB_MODE_RGBA +#else +# define TINYGL_FB_FMT FB_FMT_RGB16_565 +# define TINYGL_ZB_MODE ZB_MODE_5R6G5B +#endif + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +struct tinygl_fb_s +{ + int fd; + FAR uint8_t *fbmem; + struct fb_videoinfo_s vinfo; + struct fb_planeinfo_s pinfo; +}; + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static GLfloat g_view_rotx = 20.0f; +static GLfloat g_view_roty = 30.0f; +static GLfloat g_angle; +static GLint g_gear1; +static GLint g_gear2; +static GLint g_gear3; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: gear + * + * Description: + * Draw a gear wheel into the current display list. + * + * Input Parameters: + * inner_radius - radius of the hole at the center + * outer_radius - radius at the center of the teeth + * width - width of the gear + * teeth - number of teeth + * tooth_depth - depth of a tooth + * + ****************************************************************************/ + +static void gear(GLfloat inner_radius, GLfloat outer_radius, GLfloat width, + GLint teeth, GLfloat tooth_depth) +{ + GLfloat r0 = inner_radius; + GLfloat r1 = outer_radius - tooth_depth / 2.0f; + GLfloat r2 = outer_radius + tooth_depth / 2.0f; + GLfloat da = 2.0f * M_PI / teeth / 4.0f; + GLfloat angle; + GLfloat u; + GLfloat v; + GLfloat len; + GLint i; + + glNormal3f(0.0f, 0.0f, 1.0f); + + /* Front face */ + + glBegin(GL_QUAD_STRIP); + for (i = 0; i <= teeth; i++) + { + angle = i * 2.0f * M_PI / teeth; + glVertex3f(r0 * cosf(angle), r0 * sinf(angle), width * 0.5f); + glVertex3f(r1 * cosf(angle), r1 * sinf(angle), width * 0.5f); + glVertex3f(r0 * cosf(angle), r0 * sinf(angle), width * 0.5f); + glVertex3f(r1 * cosf(angle + 3 * da), r1 * sinf(angle + 3 * da), + width * 0.5f); + } + + glEnd(); + + /* Front sides of the teeth */ + + glBegin(GL_QUADS); + for (i = 0; i < teeth; i++) + { + angle = i * 2.0f * M_PI / teeth; + glVertex3f(r1 * cosf(angle), r1 * sinf(angle), width * 0.5f); + glVertex3f(r2 * cosf(angle + da), r2 * sinf(angle + da), + width * 0.5f); + glVertex3f(r2 * cosf(angle + 2 * da), r2 * sinf(angle + 2 * da), + width * 0.5f); + glVertex3f(r1 * cosf(angle + 3 * da), r1 * sinf(angle + 3 * da), + width * 0.5f); + } + + glEnd(); + + glNormal3f(0.0f, 0.0f, -1.0f); + + /* Back face */ + + glBegin(GL_QUAD_STRIP); + for (i = 0; i <= teeth; i++) + { + angle = i * 2.0f * M_PI / teeth; + glVertex3f(r1 * cosf(angle), r1 * sinf(angle), -width * 0.5f); + glVertex3f(r0 * cosf(angle), r0 * sinf(angle), -width * 0.5f); + glVertex3f(r1 * cosf(angle + 3 * da), r1 * sinf(angle + 3 * da), + -width * 0.5f); + glVertex3f(r0 * cosf(angle), r0 * sinf(angle), -width * 0.5f); + } + + glEnd(); + + /* Back sides of the teeth */ + + glBegin(GL_QUADS); + for (i = 0; i < teeth; i++) + { + angle = i * 2.0f * M_PI / teeth; + glVertex3f(r1 * cosf(angle + 3 * da), r1 * sinf(angle + 3 * da), + -width * 0.5f); + glVertex3f(r2 * cosf(angle + 2 * da), r2 * sinf(angle + 2 * da), + -width * 0.5f); + glVertex3f(r2 * cosf(angle + da), r2 * sinf(angle + da), + -width * 0.5f); + glVertex3f(r1 * cosf(angle), r1 * sinf(angle), -width * 0.5f); + } + + glEnd(); + + /* Outward faces of the teeth */ + + glBegin(GL_QUAD_STRIP); + for (i = 0; i < teeth; i++) + { + angle = i * 2.0f * M_PI / teeth; + glVertex3f(r1 * cosf(angle), r1 * sinf(angle), width * 0.5f); + glVertex3f(r1 * cosf(angle), r1 * sinf(angle), -width * 0.5f); + u = r2 * cosf(angle + da) - r1 * cosf(angle); + v = r2 * sinf(angle + da) - r1 * sinf(angle); + len = sqrtf(u * u + v * v); + u /= len; + v /= len; + glNormal3f(v, -u, 0.0f); + glVertex3f(r2 * cosf(angle + da), r2 * sinf(angle + da), + width * 0.5f); + glVertex3f(r2 * cosf(angle + da), r2 * sinf(angle + da), + -width * 0.5f); + glNormal3f(cosf(angle), sinf(angle), 0.0f); + glVertex3f(r2 * cosf(angle + 2 * da), r2 * sinf(angle + 2 * da), + width * 0.5f); + glVertex3f(r2 * cosf(angle + 2 * da), r2 * sinf(angle + 2 * da), + -width * 0.5f); + u = r1 * cosf(angle + 3 * da) - r2 * cosf(angle + 2 * da); + v = r1 * sinf(angle + 3 * da) - r2 * sinf(angle + 2 * da); + glNormal3f(v, -u, 0.0f); + glVertex3f(r1 * cosf(angle + 3 * da), r1 * sinf(angle + 3 * da), + width * 0.5f); + glVertex3f(r1 * cosf(angle + 3 * da), r1 * sinf(angle + 3 * da), + -width * 0.5f); + glNormal3f(cosf(angle), sinf(angle), 0.0f); + } + + glVertex3f(r1, 0.0f, width * 0.5f); + glVertex3f(r1, 0.0f, -width * 0.5f); + glEnd(); + + /* Inside radius cylinder */ + + glBegin(GL_QUAD_STRIP); + for (i = 0; i <= teeth; i++) + { + angle = i * 2.0f * M_PI / teeth; + glNormal3f(-cosf(angle), -sinf(angle), 0.0f); + glVertex3f(r0 * cosf(angle), r0 * sinf(angle), -width * 0.5f); + glVertex3f(r0 * cosf(angle), r0 * sinf(angle), width * 0.5f); + } + + glEnd(); +} + +/**************************************************************************** + * Name: gears_init + ****************************************************************************/ + +static void gears_init(int width, int height) +{ + static GLfloat pos[4] = + { + 5.0f, 5.0f, 10.0f, 0.0f + }; + + static GLfloat red[4] = + { + 0.8f, 0.1f, 0.0f, 1.0f + }; + + static GLfloat green[4] = + { + 0.0f, 0.8f, 0.2f, 1.0f + }; + + static GLfloat blue[4] = + { + 0.2f, 0.2f, 1.0f, 1.0f + }; + + static GLfloat white[4] = + { + 1.0f, 1.0f, 1.0f, 1.0f + }; + + static GLfloat shininess = 5.0f; + GLfloat h = (GLfloat)height / (GLfloat)width; + + glViewport(0, 0, width, height); + glMatrixMode(GL_PROJECTION); + glLoadIdentity(); + glFrustum(-1.0, 1.0, -h, h, 5.0, 60.0); + glMatrixMode(GL_MODELVIEW); + glLoadIdentity(); + glTranslatef(0.0f, 0.0f, -45.0f); + + glLightfv(GL_LIGHT0, GL_POSITION, pos); + glLightfv(GL_LIGHT0, GL_DIFFUSE, white); + glLightfv(GL_LIGHT0, GL_SPECULAR, white); + glEnable(GL_CULL_FACE); + glEnable(GL_LIGHTING); + glEnable(GL_LIGHT0); + glEnable(GL_DEPTH_TEST); + glShadeModel(GL_SMOOTH); + glClearColor(0.0f, 0.0f, 0.0f, 0.0f); + + /* Build one display list per gear */ + + g_gear1 = glGenLists(1); + glNewList(g_gear1, GL_COMPILE); + glMaterialfv(GL_FRONT, GL_DIFFUSE, red); + glMaterialfv(GL_FRONT, GL_SPECULAR, white); + glMaterialfv(GL_FRONT, GL_SHININESS, &shininess); + glColor3fv(red); + gear(1.0f, 4.0f, 1.0f, 20, 0.7f); + glEndList(); + + g_gear2 = glGenLists(1); + glNewList(g_gear2, GL_COMPILE); + glMaterialfv(GL_FRONT, GL_DIFFUSE, green); + glMaterialfv(GL_FRONT, GL_SPECULAR, white); + glColor3fv(green); + gear(0.5f, 2.0f, 2.0f, 10, 0.7f); + glEndList(); + + g_gear3 = glGenLists(1); + glNewList(g_gear3, GL_COMPILE); + glMaterialfv(GL_FRONT, GL_DIFFUSE, blue); + glMaterialfv(GL_FRONT, GL_SPECULAR, white); + glColor3fv(blue); + gear(1.3f, 2.0f, 0.5f, 10, 0.7f); + glEndList(); +} + +/**************************************************************************** + * Name: gears_draw + ****************************************************************************/ + +static void gears_draw(void) +{ + g_angle += 2.0f; + + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + + glPushMatrix(); + glRotatef(g_view_rotx, 1.0f, 0.0f, 0.0f); + glRotatef(g_view_roty, 0.0f, 1.0f, 0.0f); + + glPushMatrix(); + glTranslatef(-3.0f, -2.0f, 0.0f); + glRotatef(g_angle, 0.0f, 0.0f, 1.0f); + glCallList(g_gear1); + glPopMatrix(); + + glPushMatrix(); + glTranslatef(3.1f, -2.0f, 0.0f); + glRotatef(-2.0f * g_angle - 9.0f, 0.0f, 0.0f, 1.0f); + glCallList(g_gear2); + glPopMatrix(); + + glPushMatrix(); + glTranslatef(-3.1f, 4.2f, 0.0f); + glRotatef(-2.0f * g_angle - 25.0f, 0.0f, 0.0f, 1.0f); + glCallList(g_gear3); + glPopMatrix(); + + glPopMatrix(); +} + +/**************************************************************************** + * Name: tinygl_fb_open + ****************************************************************************/ + +static int tinygl_fb_open(FAR const char *path, FAR struct tinygl_fb_s *fb) +{ + int ret; + + fb->fd = open(path, O_RDWR); + if (fb->fd < 0) + { + ret = -errno; + fprintf(stderr, "ERROR: open(%s) failed: %d\n", path, ret); + return ret; + } + + if (ioctl(fb->fd, FBIOGET_VIDEOINFO, + (unsigned long)((uintptr_t)&fb->vinfo)) < 0 || + ioctl(fb->fd, FBIOGET_PLANEINFO, + (unsigned long)((uintptr_t)&fb->pinfo)) < 0) + { + ret = -errno; + fprintf(stderr, "ERROR: FBIOGET_VIDEOINFO/PLANEINFO failed: %d\n", + ret); + goto errout; + } + + if (fb->vinfo.fmt != TINYGL_FB_FMT) + { + fprintf(stderr, "ERROR: framebuffer format %d, TinyGL needs %d\n", + fb->vinfo.fmt, TINYGL_FB_FMT); + ret = -EINVAL; + goto errout; + } + + fb->fbmem = mmap(NULL, fb->pinfo.fblen, PROT_READ | PROT_WRITE, + MAP_SHARED | MAP_FILE, fb->fd, 0); + if (fb->fbmem == MAP_FAILED) + { + ret = -errno; + fprintf(stderr, "ERROR: mmap() failed: %d\n", ret); + goto errout; + } + + return OK; + +errout: + close(fb->fd); + return ret; +} + +/**************************************************************************** + * Name: tinygl_fb_update + ****************************************************************************/ + +static void tinygl_fb_update(FAR struct tinygl_fb_s *fb, FAR ZBuffer *zb) +{ + ZB_copyFrameBuffer(zb, fb->fbmem, fb->pinfo.stride); + +#ifdef CONFIG_FB_UPDATE + struct fb_area_s area; + + area.x = 0; + area.y = 0; + area.w = zb->xsize; + area.h = zb->ysize; + ioctl(fb->fd, FBIO_UPDATE, (unsigned long)((uintptr_t)&area)); +#endif +} + +/**************************************************************************** + * Name: now_ms + ****************************************************************************/ + +static uint32_t now_ms(void) +{ + struct timespec ts; + + clock_gettime(CLOCK_MONOTONIC, &ts); + return ts.tv_sec * 1000 + ts.tv_nsec / 1000000; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: main + * + * Description: + * tinygl [frames] [fbdev] + * + * Render the TinyGL gears demo on a framebuffer. "frames" is the number + * of frames to draw (0, the default, runs forever) and "fbdev" the + * framebuffer device (CONFIG_EXAMPLES_TINYGL_DEFAULTFB by default). + * + ****************************************************************************/ + +int main(int argc, FAR char *argv[]) +{ + FAR const char *fbdev = CONFIG_EXAMPLES_TINYGL_DEFAULTFB; + struct tinygl_fb_s fb; + FAR ZBuffer *zb; + uint32_t start; + uint32_t now; + int frames = 0; + int count = 0; + int total = 0; + int ret; + + if (argc > 1) + { + frames = atoi(argv[1]); + } + + if (argc > 2) + { + fbdev = argv[2]; + } + + ret = tinygl_fb_open(fbdev, &fb); + if (ret < 0) + { + return EXIT_FAILURE; + } + + printf("tinygl: %s %dx%d, %d bpp, stride %" PRIu32 "\n", fbdev, + fb.vinfo.xres, fb.vinfo.yres, fb.pinfo.bpp, fb.pinfo.stride); + + /* Let TinyGL render into its own buffer and copy each finished frame to + * the framebuffer, so that a half drawn frame is never visible. + */ + + zb = ZB_open(fb.vinfo.xres, fb.vinfo.yres, TINYGL_ZB_MODE, NULL); + if (zb == NULL) + { + fprintf(stderr, "ERROR: ZB_open() failed\n"); + ret = EXIT_FAILURE; + goto errout_with_fb; + } + + glInit(zb); + gears_init(zb->xsize, zb->ysize); + + start = now_ms(); + while (frames == 0 || total < frames) + { + gears_draw(); + tinygl_fb_update(&fb, zb); + + count++; + total++; + now = now_ms(); + if (now - start >= 5000) + { + printf("tinygl: %d frames in %" PRIu32 " ms = %d.%d FPS\n", + count, now - start, count * 1000 / (int)(now - start), + (count * 10000 / (int)(now - start)) % 10); + count = 0; + start = now; + } + } + + printf("tinygl: rendered %d frames\n", total); + + glDeleteList(g_gear1); + glDeleteList(g_gear2); + glDeleteList(g_gear3); + glClose(); + ZB_close(zb); + ret = EXIT_SUCCESS; + +errout_with_fb: + munmap(fb.fbmem, fb.pinfo.fblen); + close(fb.fd); + return ret; +}
