From ff974b6cd5a7bc1030a3db9fbbfc3955c5f9e34c Mon Sep 17 00:00:00 2001
From: Stephen Birarda <commit@birarda.com>
Date: Wed, 1 May 2013 12:50:02 -0700
Subject: [PATCH 01/30] half baked communication with shitty invensense

---
 CMakeLists.txt                 |  3 +-
 invensense-test/CMakeLists.txt | 13 ++++++
 invensense-test/src/main.cpp   | 79 ++++++++++++++++++++++++++++++++++
 3 files changed, 94 insertions(+), 1 deletion(-)
 create mode 100644 invensense-test/CMakeLists.txt
 create mode 100644 invensense-test/src/main.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3923f543fa..5b1001119d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,4 +9,5 @@ add_subdirectory(eve)
 add_subdirectory(interface)
 add_subdirectory(injector)
 add_subdirectory(space-server)
-add_subdirectory(voxel-server)
\ No newline at end of file
+add_subdirectory(voxel-server)
+add_subdirectory(invensense-test)
\ No newline at end of file
diff --git a/invensense-test/CMakeLists.txt b/invensense-test/CMakeLists.txt
new file mode 100644
index 0000000000..b0dfed8990
--- /dev/null
+++ b/invensense-test/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 2.8)
+
+set(ROOT_DIR ..)
+set(MACRO_DIR ${ROOT_DIR}/cmake/macros)
+
+set(TARGET_NAME invensense-test)
+
+include(${MACRO_DIR}/SetupHifiProject.cmake)
+setup_hifi_project(${TARGET_NAME})
+
+# link the shared hifi library
+include(${MACRO_DIR}/LinkHifiLibrary.cmake)
+link_hifi_library(shared ${TARGET_NAME} ${ROOT_DIR})
\ No newline at end of file
diff --git a/invensense-test/src/main.cpp b/invensense-test/src/main.cpp
new file mode 100644
index 0000000000..981c8508f0
--- /dev/null
+++ b/invensense-test/src/main.cpp
@@ -0,0 +1,79 @@
+//
+//  main.cpp
+//  invensense-test
+//
+//  Created by Stephen Birarda on 4/30/13.
+//  Copyright (c) 2013 High Fidelity. All rights reserved.
+//
+
+#include <iostream>
+#include <unistd.h>
+#include <fcntl.h>
+#include <termios.h>
+#include <dirent.h>
+#include <SharedUtil.h>
+
+int main(int argc, char* argv[]) {
+    int serialFd = open("/dev/tty.usbmodemfa141", O_RDWR | O_NOCTTY | O_NDELAY);
+    
+    struct termios options;
+    tcgetattr(serialFd, &options);
+    
+    cfsetispeed(&options,B115200);
+    cfsetospeed(&options,B115200);
+    
+    options.c_cflag |= (CLOCAL | CREAD);
+    options.c_cflag &= ~PARENB;
+    options.c_cflag &= ~CSTOPB;
+    options.c_cflag &= ~CSIZE;
+    options.c_cflag |= CS8;
+    tcsetattr(serialFd,TCSANOW,&options);
+    
+    // Flush the port's buffers (in and out) before we start using it
+    tcflush(serialFd, TCIOFLUSH);
+    
+    // block on read until data is available
+    int currentFlags = fcntl(serialFd, F_GETFL);    
+    fcntl(serialFd, F_SETFL, currentFlags & ~O_NONBLOCK);
+    
+    write(serialFd, "WR686B01\n", 9);
+    usleep(100000);
+    
+    tcflush(serialFd, TCIOFLUSH);
+    
+    char gyroBuffer[12] = {};
+    int16_t gyroX, gyroY, gyroZ;
+    
+    char statusByte[4] = {};
+    int dataReadyVal = 0;
+    
+    while (true) {
+        write(serialFd, "RS3A\n", 5);
+        read(serialFd, statusByte, 4);
+        
+        printf("The status byte read was %c%c%c%c\n", statusByte[0], statusByte[1], statusByte[2], statusByte[3]);
+        dataReadyVal = statusByte[3] - '0';
+        
+        if (dataReadyVal % 2 == 1) {
+            tcflush(serialFd, TCIOFLUSH);
+            
+            write(serialFd, "RD684306\n", 9);
+            printf("Read %ld bytes from serial\n", read(serialFd, gyroBuffer, 12));
+            printf("The first six chars %c%c%c%c%c%c\n", gyroBuffer[0], gyroBuffer[1], gyroBuffer[2], gyroBuffer[3], gyroBuffer[4], gyroBuffer[5]);
+
+            gyroX = (gyroBuffer[6] << 8) | gyroBuffer[7];
+            gyroY = (gyroBuffer[8] << 8) | gyroBuffer[9];
+            gyroZ = (gyroBuffer[10] << 8) | gyroBuffer[11];
+            
+            printf("The gyro data %d, %d, %d\n", gyroX, gyroY, gyroZ);
+        }
+        
+        tcflush(serialFd, TCIOFLUSH);
+    }
+    
+    close(serialFd);
+    
+    return 0;
+}
+
+

From 8087d2e0f45ddf04ebc7b51223e582944f11640a Mon Sep 17 00:00:00 2001
From: Stephen Birarda <commit@birarda.com>
Date: Wed, 1 May 2013 17:27:39 -0700
Subject: [PATCH 02/30] a functional test pulling gyro data at 100Hz

---
 invensense-test/src/main.cpp | 59 ++++++++++++++++++++++--------------
 1 file changed, 37 insertions(+), 22 deletions(-)

diff --git a/invensense-test/src/main.cpp b/invensense-test/src/main.cpp
index 981c8508f0..dac4047ce3 100644
--- a/invensense-test/src/main.cpp
+++ b/invensense-test/src/main.cpp
@@ -13,6 +13,21 @@
 #include <dirent.h>
 #include <SharedUtil.h>
 
+void loadIntFromTwoHex(char* sourceBuffer, int& destinationInt) {
+    
+    unsigned int byte[2];
+    
+    for(int i = 0; i < 2; i++) {
+        sscanf(sourceBuffer + 2 * i, "%2x", &byte[i]);
+//        printf("The hex code is 0x%c%c so the byte is %d\n", (sourceBuffer + 2 * i)[0], (sourceBuffer + 2 * i)[1], byte[i]);
+    }
+    
+    int16_t result = (byte[0] << 8);
+    result += byte[1];
+    
+    destinationInt = result;
+}
+
 int main(int argc, char* argv[]) {
     int serialFd = open("/dev/tty.usbmodemfa141", O_RDWR | O_NOCTTY | O_NDELAY);
     
@@ -38,37 +53,37 @@ int main(int argc, char* argv[]) {
     
     write(serialFd, "WR686B01\n", 9);
     usleep(100000);
+    write(serialFd, "SD\n", 3);
+    usleep(100000);
     
     tcflush(serialFd, TCIOFLUSH);
     
-    char gyroBuffer[12] = {};
-    int16_t gyroX, gyroY, gyroZ;
+    char gyroBuffer[20] = {};
+    int gyroX, gyroY, gyroZ;
+    int readBytes = 0;
     
-    char statusByte[4] = {};
-    int dataReadyVal = 0;
+    double lastRead = usecTimestampNow();
     
     while (true) {
-        write(serialFd, "RS3A\n", 5);
-        read(serialFd, statusByte, 4);
-        
-        printf("The status byte read was %c%c%c%c\n", statusByte[0], statusByte[1], statusByte[2], statusByte[3]);
-        dataReadyVal = statusByte[3] - '0';
-        
-        if (dataReadyVal % 2 == 1) {
-            tcflush(serialFd, TCIOFLUSH);
+        if (usecTimestampNow() - lastRead >= 10000) {
             
             write(serialFd, "RD684306\n", 9);
-            printf("Read %ld bytes from serial\n", read(serialFd, gyroBuffer, 12));
-            printf("The first six chars %c%c%c%c%c%c\n", gyroBuffer[0], gyroBuffer[1], gyroBuffer[2], gyroBuffer[3], gyroBuffer[4], gyroBuffer[5]);
-
-            gyroX = (gyroBuffer[6] << 8) | gyroBuffer[7];
-            gyroY = (gyroBuffer[8] << 8) | gyroBuffer[9];
-            gyroZ = (gyroBuffer[10] << 8) | gyroBuffer[11];
             
-            printf("The gyro data %d, %d, %d\n", gyroX, gyroY, gyroZ);
-        }
-        
-        tcflush(serialFd, TCIOFLUSH);
+            readBytes = read(serialFd, gyroBuffer, 20);
+//            printf("Read %d bytes from serial\n", readBytes);
+            
+//            printf("The first two characters are %c%c\n", gyroBuffer[0], gyroBuffer[1]);
+            
+            if (readBytes == 20 && gyroBuffer[0] == 'R' && gyroBuffer[1] == 'D') {
+                loadIntFromTwoHex(gyroBuffer + 6, gyroX);
+                loadIntFromTwoHex(gyroBuffer + 10, gyroY);
+                loadIntFromTwoHex(gyroBuffer + 14, gyroZ);
+                
+                printf("The gyro data %d, %d, %d\n", gyroX, gyroY, gyroZ);
+            }
+            
+            lastRead = usecTimestampNow();
+        } 
     }
     
     close(serialFd);

From 9e3b862c6715c4c38135a6a29db29602eba10448 Mon Sep 17 00:00:00 2001
From: Stephen Birarda <commit@birarda.com>
Date: Thu, 2 May 2013 12:26:12 -0700
Subject: [PATCH 03/30] hook up the invensense via existing SerialInterface
 class

---
 interface/src/Avatar.cpp          |  46 ++++----
 interface/src/SerialInterface.cpp | 179 +++++++++++++++++++-----------
 interface/src/SerialInterface.h   |  11 ++
 interface/src/main.cpp            |   6 +-
 4 files changed, 152 insertions(+), 90 deletions(-)

diff --git a/interface/src/Avatar.cpp b/interface/src/Avatar.cpp
index 21fa44e651..1f4f3cd1a7 100644
--- a/interface/src/Avatar.cpp
+++ b/interface/src/Avatar.cpp
@@ -226,45 +226,39 @@ void Avatar::reset() {
     _head.leanForward = _head.leanSideways = 0;
 }
 
-
-//this pertains to moving the head with the glasses
-void Avatar::UpdateGyros(float frametime, SerialInterface * serialInterface, glm::vec3 * gravity)
+// this pertains to moving the head with the glasses
 //  Using serial data, update avatar/render position and angles
-{
-    const float PITCH_ACCEL_COUPLING = 0.5;
-    const float ROLL_ACCEL_COUPLING = -1.0;
-    float measured_pitch_rate = serialInterface->getRelativeValue(HEAD_PITCH_RATE);
-    _head.yawRate = serialInterface->getRelativeValue(HEAD_YAW_RATE);
-    float measured_lateral_accel = serialInterface->getRelativeValue(ACCEL_X) -
-    ROLL_ACCEL_COUPLING*serialInterface->getRelativeValue(HEAD_ROLL_RATE);
-    float measured_fwd_accel = serialInterface->getRelativeValue(ACCEL_Z) -
-    PITCH_ACCEL_COUPLING*serialInterface->getRelativeValue(HEAD_PITCH_RATE);
-    float measured_roll_rate = serialInterface->getRelativeValue(HEAD_ROLL_RATE);
-    
-    //printLog("Pitch Rate: %d ACCEL_Z: %d\n", serialInterface->getRelativeValue(PITCH_RATE),
-    //                                         serialInterface->getRelativeValue(ACCEL_Z));
-    //printLog("Pitch Rate: %d ACCEL_X: %d\n", serialInterface->getRelativeValue(PITCH_RATE),
-    //                                         serialInterface->getRelativeValue(ACCEL_Z));
-    //printLog("Pitch: %f\n", Pitch);
+void Avatar::UpdateGyros(float frametime, SerialInterface* serialInterface, glm::vec3* gravity) {
+    float measured_pitch_rate = 0.0f;
+    float measured_roll_rate = 0.0f;
+    if (serialInterface->active && USING_INVENSENSE_MPU9150) {
+        measured_pitch_rate = serialInterface->getLastPitch();
+        _head.yawRate = serialInterface->getLastYaw();
+        measured_roll_rate = -1 * serialInterface->getLastRoll();
+    } else {
+        measured_pitch_rate = serialInterface->getRelativeValue(HEAD_PITCH_RATE);
+        _head.yawRate = serialInterface->getRelativeValue(HEAD_YAW_RATE);
+        measured_roll_rate = serialInterface->getRelativeValue(HEAD_ROLL_RATE);
+    }
     
     //  Update avatar head position based on measured gyro rates
     const float HEAD_ROTATION_SCALE = 0.70;
     const float HEAD_ROLL_SCALE = 0.40;
-    const float HEAD_LEAN_SCALE = 0.01;
     const float MAX_PITCH = 45;
     const float MIN_PITCH = -45;
     const float MAX_YAW = 85;
     const float MIN_YAW = -85;
     
-    if ((_headPitch < MAX_PITCH) && (_headPitch > MIN_PITCH))
+    if ((_headPitch < MAX_PITCH) && (_headPitch > MIN_PITCH)) {
         addHeadPitch(measured_pitch_rate * -HEAD_ROTATION_SCALE * frametime);
-    
+    }
+        
     addHeadRoll(measured_roll_rate * HEAD_ROLL_SCALE * frametime);
     
-    if ((_headYaw < MAX_YAW) && (_headYaw > MIN_YAW))
-        addHeadYaw(_head.yawRate * HEAD_ROTATION_SCALE * frametime);
-    
-    addLean(-measured_lateral_accel * frametime * HEAD_LEAN_SCALE, -measured_fwd_accel*frametime * HEAD_LEAN_SCALE);
+    if ((_headYaw < MAX_YAW) && (_headYaw > MIN_YAW)) {
+         addHeadYaw(_head.yawRate * HEAD_ROTATION_SCALE * frametime);
+    }
+
 }
 
 float Avatar::getAbsoluteHeadYaw() const {
diff --git a/interface/src/SerialInterface.cpp b/interface/src/SerialInterface.cpp
index 9fe57ecaaf..44f256cd01 100644
--- a/interface/src/SerialInterface.cpp
+++ b/interface/src/SerialInterface.cpp
@@ -32,6 +32,8 @@ const short NO_READ_MAXIMUM_MSECS = 3000;
 const short SAMPLES_TO_DISCARD = 100;               //  Throw out the first few samples
 const int GRAVITY_SAMPLES = 200;                    //  Use the first samples to compute gravity vector
 
+const bool USING_INVENSENSE_MPU9150 = 1;
+
 void SerialInterface::pair() {
     
 #ifdef __APPLE__
@@ -62,9 +64,8 @@ void SerialInterface::pair() {
     
 }
 
-//  Connect to the serial port
-int SerialInterface::initializePort(char* portname, int baud)
-{
+//  connect to the serial port
+int SerialInterface::initializePort(char* portname, int baud) {
 #ifdef __APPLE__
     serialFd = open(portname, O_RDWR | O_NOCTTY | O_NDELAY);
     
@@ -76,8 +77,8 @@ int SerialInterface::initializePort(char* portname, int baud)
     }    
     struct termios options;
     tcgetattr(serialFd,&options);
-    switch(baud)
-    {
+    
+    switch(baud) {
 		case 9600: cfsetispeed(&options,B9600);
 			cfsetospeed(&options,B9600);
 			break;
@@ -94,16 +95,37 @@ int SerialInterface::initializePort(char* portname, int baud)
 			cfsetospeed(&options,B9600);
 			break;
     }
+    
     options.c_cflag |= (CLOCAL | CREAD);
     options.c_cflag &= ~PARENB;
     options.c_cflag &= ~CSTOPB;
     options.c_cflag &= ~CSIZE;
     options.c_cflag |= CS8;
     tcsetattr(serialFd,TCSANOW,&options);
-
+    
+    if (USING_INVENSENSE_MPU9150) {
+        // block on invensense reads until there is data to read
+        int currentFlags = fcntl(serialFd, F_GETFL);
+        fcntl(serialFd, F_SETFL, currentFlags & ~O_NONBLOCK);
+        
+        // there are extra commands to send to the invensense when it fires up
+        
+        // this takes it out of SLEEP
+        write(serialFd, "WR686B01\n", 9);
+        
+        // delay after the wakeup
+        usleep(10000);
+        
+        // this disables streaming so there's no garbage data on reads
+        write(serialFd, "SD\n", 3);
+        
+        // flush whatever was produced by the last two commands
+        tcflush(serialFd, TCIOFLUSH);
+    }
     
     printLog("Connected.\n");
-    resetSerial();    
+    resetSerial();
+    
     active = true;
  #endif
    
@@ -157,62 +179,89 @@ void SerialInterface::renderLevels(int width, int height) {
         }
         glEnd();
     }
+}
 
+void convertHexToInt(unsigned char* sourceBuffer, int& destinationInt) {
+    unsigned int byte[2];
+    
+    for(int i = 0; i < 2; i++) {
+        sscanf((char*) sourceBuffer + 2 * i, "%2x", &byte[i]);
+    }
+    
+    int16_t result = (byte[0] << 8);
+    result += byte[1];
+    
+    destinationInt = result;
 }
 void SerialInterface::readData() {
 #ifdef __APPLE__
-    //  This array sets the rate of trailing averaging for each channel:
-    //  If the sensor rate is 100Hz, 0.001 will make the long term average a 10-second average
-    const float AVG_RATE[] =  {0.002, 0.002, 0.002, 0.002, 0.002, 0.002};
-    char bufchar[1];
     
     int initialSamples = totalSamples;
     
-    while (read(serialFd, &bufchar, 1) > 0) { 
-        serialBuffer[serialBufferPos] = bufchar[0];
-        serialBufferPos++;
-        //  Have we reached end of a line of input?
-        if ((bufchar[0] == '\n') || (serialBufferPos >= MAX_BUFFER)) {
-            std::string serialLine(serialBuffer, serialBufferPos-1);
-            //printLog("%s\n", serialLine.c_str());
-            int spot;
-            //int channel = 0;
-            std::string val;
-            for (int i = 0; i < NUM_CHANNELS + 2; i++) {
-                spot = serialLine.find_first_of(" ", 0);
-                if (spot != std::string::npos) {
-                    val = serialLine.substr(0,spot);
-                    //printLog("%s\n", val.c_str());
-                    if (i < NUM_CHANNELS) lastMeasured[i] = atoi(val.c_str());
-                    else samplesAveraged = atoi(val.c_str());
-                } else LED = atoi(serialLine.c_str());
-                serialLine = serialLine.substr(spot+1, serialLine.length() - spot - 1);
-            }
-            
-            //  Update Trailing Averages
-            for (int i = 0; i < NUM_CHANNELS; i++) {
-                if (totalSamples > SAMPLES_TO_DISCARD) {
-                    trailingAverage[i] = (1.f - AVG_RATE[i])*trailingAverage[i] +
-                        AVG_RATE[i]*(float)lastMeasured[i];
-                } else {
-                    trailingAverage[i] = (float)lastMeasured[i];
+    if (USING_INVENSENSE_MPU9150) {
+        unsigned char gyroBuffer[20];
+        
+        // ask the invensense for raw gyro data
+        write(serialFd, "RD684306\n", 9);
+        read(serialFd, gyroBuffer, 20);
+        
+        convertHexToInt(gyroBuffer + 6, _lastYaw);
+        convertHexToInt(gyroBuffer + 10, _lastRoll);
+        convertHexToInt(gyroBuffer + 14, _lastPitch);
+        
+        totalSamples++;
+    } else {
+        //  This array sets the rate of trailing averaging for each channel:
+        //  If the sensor rate is 100Hz, 0.001 will make the long term average a 10-second average
+        const float AVG_RATE[] =  {0.002, 0.002, 0.002, 0.002, 0.002, 0.002};
+        char bufchar[1];
+        
+        while (read(serialFd, &bufchar, 1) > 0) {
+            serialBuffer[serialBufferPos] = bufchar[0];
+            serialBufferPos++;
+            //  Have we reached end of a line of input?
+            if ((bufchar[0] == '\n') || (serialBufferPos >= MAX_BUFFER)) {
+                std::string serialLine(serialBuffer, serialBufferPos-1);
+                //printLog("%s\n", serialLine.c_str());
+                int spot;
+                //int channel = 0;
+                std::string val;
+                for (int i = 0; i < NUM_CHANNELS + 2; i++) {
+                    spot = serialLine.find_first_of(" ", 0);
+                    if (spot != std::string::npos) {
+                        val = serialLine.substr(0,spot);
+                        //printLog("%s\n", val.c_str());
+                        if (i < NUM_CHANNELS) lastMeasured[i] = atoi(val.c_str());
+                        else samplesAveraged = atoi(val.c_str());
+                    } else LED = atoi(serialLine.c_str());
+                    serialLine = serialLine.substr(spot+1, serialLine.length() - spot - 1);
                 }
-                   
+                
+                //  Update Trailing Averages
+                for (int i = 0; i < NUM_CHANNELS; i++) {
+                    if (totalSamples > SAMPLES_TO_DISCARD) {
+                        trailingAverage[i] = (1.f - AVG_RATE[i])*trailingAverage[i] +
+                        AVG_RATE[i]*(float)lastMeasured[i];
+                    } else {
+                        trailingAverage[i] = (float)lastMeasured[i];
+                    }
+                    
+                }
+                
+                //  Use a set of initial samples to compute gravity
+                if (totalSamples < GRAVITY_SAMPLES) {
+                    gravity.x += lastMeasured[ACCEL_X];
+                    gravity.y += lastMeasured[ACCEL_Y];
+                    gravity.z += lastMeasured[ACCEL_Z];
+                }
+                if (totalSamples == GRAVITY_SAMPLES) {
+                    gravity = glm::normalize(gravity);
+                    printLog("gravity: %f,%f,%f\n", gravity.x, gravity.y, gravity.z);
+                }
+                
+                totalSamples++;
+                serialBufferPos = 0;
             }
-            
-            //  Use a set of initial samples to compute gravity 
-            if (totalSamples < GRAVITY_SAMPLES) {
-                gravity.x += lastMeasured[ACCEL_X];
-                gravity.y += lastMeasured[ACCEL_Y];
-                gravity.z += lastMeasured[ACCEL_Z];
-            }
-            if (totalSamples == GRAVITY_SAMPLES) {
-                gravity = glm::normalize(gravity);
-                printLog("gravity: %f,%f,%f\n", gravity.x, gravity.y, gravity.z);
-            }
-
-            totalSamples++;
-            serialBufferPos = 0;
         }
     }
     
@@ -234,19 +283,23 @@ void SerialInterface::resetSerial() {
 #ifdef __APPLE__
     active = false;
     totalSamples = 0;
-    gravity = glm::vec3(0,-1,0);
     
     gettimeofday(&lastGoodRead, NULL);
     
-    //  Clear the measured and average channel data
-    for (int i = 0; i < NUM_CHANNELS; i++) {
-        lastMeasured[i] = 0;
-        trailingAverage[i] = 0.0;
-    }
-    //  Clear serial input buffer
-    for (int i = 1; i < MAX_BUFFER; i++) {
-        serialBuffer[i] = ' ';
+    if (!USING_INVENSENSE_MPU9150) {
+        gravity = glm::vec3(0,-1,0);
+        
+        //  Clear the measured and average channel data
+        for (int i = 0; i < NUM_CHANNELS; i++) {
+            lastMeasured[i] = 0;
+            trailingAverage[i] = 0.0;
+        }
+        //  Clear serial input buffer
+        for (int i = 1; i < MAX_BUFFER; i++) {
+            serialBuffer[i] = ' ';
+        }
     }
+    
 #endif
 }
 
diff --git a/interface/src/SerialInterface.h b/interface/src/SerialInterface.h
index 150c15fb65..9558a1601f 100644
--- a/interface/src/SerialInterface.h
+++ b/interface/src/SerialInterface.h
@@ -32,16 +32,24 @@
 #define HEAD_YAW_RATE 0
 #define HEAD_ROLL_RATE 2
 
+extern const bool USING_INVENSENSE_MPU9150;
+
 class SerialInterface {
 public:
     SerialInterface() { active = false; };
     void pair();
     void readData();
+    
+    int getLastYaw() const { return _lastYaw; }
+    int getLastPitch() const { return _lastPitch; }
+    int getLastRoll() const { return _lastRoll; }
+    
     int getLED() {return LED;};
     int getNumSamples() {return samplesAveraged;};
     int getValue(int num) {return lastMeasured[num];};
     int getRelativeValue(int num) {return static_cast<int>(lastMeasured[num] - trailingAverage[num]);};
     float getTrailingValue(int num) {return trailingAverage[num];};
+    
     void resetTrailingAverages();
     void renderLevels(int width, int height);
     bool active;
@@ -57,6 +65,9 @@ private:
     int totalSamples;
     timeval lastGoodRead;
     glm::vec3 gravity;
+    int _lastYaw;
+    int _lastPitch;
+    int _lastRoll;
 };
 
 #endif
diff --git a/interface/src/main.cpp b/interface/src/main.cpp
index 7ef1c491f8..26cb2d0e53 100644
--- a/interface/src/main.cpp
+++ b/interface/src/main.cpp
@@ -1476,6 +1476,10 @@ void idle(void) {
             handControl.stop();
 		}
         
+        if (serialPort.active && USING_INVENSENSE_MPU9150) {
+            serialPort.readData();
+        }
+        
         //
         //  Sample hardware, update view frustum if needed, Lsend avatar data to mixer/agents
         //
@@ -1504,7 +1508,7 @@ void idle(void) {
     }
     
     //  Read serial data 
-    if (serialPort.active) {
+    if (serialPort.active && !USING_INVENSENSE_MPU9150) {
         serialPort.readData();
     }
 }

From 4a3d713bc73f7d627c16856afb32793e3a46e187 Mon Sep 17 00:00:00 2001
From: Stephen Birarda <commit@birarda.com>
Date: Thu, 2 May 2013 12:27:21 -0700
Subject: [PATCH 04/30] remove the invensense testing program

---
 CMakeLists.txt                 |  3 +-
 invensense-test/CMakeLists.txt | 13 -----
 invensense-test/src/main.cpp   | 94 ----------------------------------
 3 files changed, 1 insertion(+), 109 deletions(-)
 delete mode 100644 invensense-test/CMakeLists.txt
 delete mode 100644 invensense-test/src/main.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5b1001119d..3923f543fa 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,5 +9,4 @@ add_subdirectory(eve)
 add_subdirectory(interface)
 add_subdirectory(injector)
 add_subdirectory(space-server)
-add_subdirectory(voxel-server)
-add_subdirectory(invensense-test)
\ No newline at end of file
+add_subdirectory(voxel-server)
\ No newline at end of file
diff --git a/invensense-test/CMakeLists.txt b/invensense-test/CMakeLists.txt
deleted file mode 100644
index b0dfed8990..0000000000
--- a/invensense-test/CMakeLists.txt
+++ /dev/null
@@ -1,13 +0,0 @@
-cmake_minimum_required(VERSION 2.8)
-
-set(ROOT_DIR ..)
-set(MACRO_DIR ${ROOT_DIR}/cmake/macros)
-
-set(TARGET_NAME invensense-test)
-
-include(${MACRO_DIR}/SetupHifiProject.cmake)
-setup_hifi_project(${TARGET_NAME})
-
-# link the shared hifi library
-include(${MACRO_DIR}/LinkHifiLibrary.cmake)
-link_hifi_library(shared ${TARGET_NAME} ${ROOT_DIR})
\ No newline at end of file
diff --git a/invensense-test/src/main.cpp b/invensense-test/src/main.cpp
deleted file mode 100644
index dac4047ce3..0000000000
--- a/invensense-test/src/main.cpp
+++ /dev/null
@@ -1,94 +0,0 @@
-//
-//  main.cpp
-//  invensense-test
-//
-//  Created by Stephen Birarda on 4/30/13.
-//  Copyright (c) 2013 High Fidelity. All rights reserved.
-//
-
-#include <iostream>
-#include <unistd.h>
-#include <fcntl.h>
-#include <termios.h>
-#include <dirent.h>
-#include <SharedUtil.h>
-
-void loadIntFromTwoHex(char* sourceBuffer, int& destinationInt) {
-    
-    unsigned int byte[2];
-    
-    for(int i = 0; i < 2; i++) {
-        sscanf(sourceBuffer + 2 * i, "%2x", &byte[i]);
-//        printf("The hex code is 0x%c%c so the byte is %d\n", (sourceBuffer + 2 * i)[0], (sourceBuffer + 2 * i)[1], byte[i]);
-    }
-    
-    int16_t result = (byte[0] << 8);
-    result += byte[1];
-    
-    destinationInt = result;
-}
-
-int main(int argc, char* argv[]) {
-    int serialFd = open("/dev/tty.usbmodemfa141", O_RDWR | O_NOCTTY | O_NDELAY);
-    
-    struct termios options;
-    tcgetattr(serialFd, &options);
-    
-    cfsetispeed(&options,B115200);
-    cfsetospeed(&options,B115200);
-    
-    options.c_cflag |= (CLOCAL | CREAD);
-    options.c_cflag &= ~PARENB;
-    options.c_cflag &= ~CSTOPB;
-    options.c_cflag &= ~CSIZE;
-    options.c_cflag |= CS8;
-    tcsetattr(serialFd,TCSANOW,&options);
-    
-    // Flush the port's buffers (in and out) before we start using it
-    tcflush(serialFd, TCIOFLUSH);
-    
-    // block on read until data is available
-    int currentFlags = fcntl(serialFd, F_GETFL);    
-    fcntl(serialFd, F_SETFL, currentFlags & ~O_NONBLOCK);
-    
-    write(serialFd, "WR686B01\n", 9);
-    usleep(100000);
-    write(serialFd, "SD\n", 3);
-    usleep(100000);
-    
-    tcflush(serialFd, TCIOFLUSH);
-    
-    char gyroBuffer[20] = {};
-    int gyroX, gyroY, gyroZ;
-    int readBytes = 0;
-    
-    double lastRead = usecTimestampNow();
-    
-    while (true) {
-        if (usecTimestampNow() - lastRead >= 10000) {
-            
-            write(serialFd, "RD684306\n", 9);
-            
-            readBytes = read(serialFd, gyroBuffer, 20);
-//            printf("Read %d bytes from serial\n", readBytes);
-            
-//            printf("The first two characters are %c%c\n", gyroBuffer[0], gyroBuffer[1]);
-            
-            if (readBytes == 20 && gyroBuffer[0] == 'R' && gyroBuffer[1] == 'D') {
-                loadIntFromTwoHex(gyroBuffer + 6, gyroX);
-                loadIntFromTwoHex(gyroBuffer + 10, gyroY);
-                loadIntFromTwoHex(gyroBuffer + 14, gyroZ);
-                
-                printf("The gyro data %d, %d, %d\n", gyroX, gyroY, gyroZ);
-            }
-            
-            lastRead = usecTimestampNow();
-        } 
-    }
-    
-    close(serialFd);
-    
-    return 0;
-}
-
-

From e9d556419f47de14b9741295929b6277b7329b88 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Fri, 3 May 2013 14:39:00 -0700
Subject: [PATCH 05/30] got rid of some dead code

---
 libraries/voxels/src/VoxelTree.cpp | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/libraries/voxels/src/VoxelTree.cpp b/libraries/voxels/src/VoxelTree.cpp
index 21118c929e..91b8f9f28c 100644
--- a/libraries/voxels/src/VoxelTree.cpp
+++ b/libraries/voxels/src/VoxelTree.cpp
@@ -260,9 +260,6 @@ void VoxelTree::deleteVoxelCodeFromTree(unsigned char *codeBuffer) {
         delete[] vertices;
 
         if (parentNode) {
-            float* vertices = firstVertexForCode(parentNode->octalCode);
-            delete[] vertices;
-        
             int childIndex = branchIndexWithDescendant(parentNode->octalCode, codeBuffer);
 
             delete parentNode->children[childIndex]; // delete the child nodes

From 1366794bdc2717ff64ff53e1152d5072de3ef191 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Fri, 3 May 2013 15:00:03 -0700
Subject: [PATCH 06/30] added some tree methods for primitive voxel editing

---
 libraries/voxels/src/VoxelTree.cpp | 19 ++++++++++++++++++-
 libraries/voxels/src/VoxelTree.h   |  8 +++++---
 voxel-server/src/main.cpp          | 15 +++++++++++++++
 3 files changed, 38 insertions(+), 4 deletions(-)

diff --git a/libraries/voxels/src/VoxelTree.cpp b/libraries/voxels/src/VoxelTree.cpp
index 91b8f9f28c..e27e8da0ba 100644
--- a/libraries/voxels/src/VoxelTree.cpp
+++ b/libraries/voxels/src/VoxelTree.cpp
@@ -69,7 +69,7 @@ void VoxelTree::recurseNodeWithOperation(VoxelNode* node,RecurseVoxelTreeOperati
     }
 }
 
-VoxelNode * VoxelTree::nodeForOctalCode(VoxelNode *ancestorNode, unsigned char * needleCode, VoxelNode** parentOfFoundNode) {
+VoxelNode * VoxelTree::nodeForOctalCode(VoxelNode *ancestorNode, unsigned char * needleCode, VoxelNode** parentOfFoundNode) const {
     // find the appropriate branch index based on this ancestorNode
     if (*needleCode > 0) {
         int branchForNeedle = branchIndexWithDescendant(ancestorNode->octalCode, needleCode);
@@ -245,6 +245,13 @@ void VoxelTree::readBitstreamToTree(unsigned char * bitstream, int bufferSizeByt
     this->voxelsBytesReadStats.updateAverage(bufferSizeBytes);
 }
 
+void VoxelTree::deleteVoxelAt(float x, float y, float z, float s) {
+    unsigned char* octalCode = pointToVoxel(x,y,z,s,0,0,0);
+    deleteVoxelCodeFromTree(octalCode);
+    delete octalCode; // cleanup memory
+}
+
+
 // Note: uses the codeColorBuffer format, but the color's are ignored, because
 // this only finds and deletes the node from the tree.
 void VoxelTree::deleteVoxelCodeFromTree(unsigned char *codeBuffer) {
@@ -435,6 +442,16 @@ void VoxelTree::loadVoxelsFile(const char* fileName, bool wantColorRandomizer) {
     }
 }
 
+VoxelNode* VoxelTree::getVoxelAt(float x, float y, float z, float s) const {
+    unsigned char* octalCode = pointToVoxel(x,y,z,s,0,0,0);
+    VoxelNode* node = nodeForOctalCode(rootNode, octalCode, NULL);
+    if (*node->octalCode != *octalCode) {
+        node = NULL;
+    }
+    delete octalCode; // cleanup memory
+    return node;
+}
+
 void VoxelTree::createVoxel(float x, float y, float z, float s, unsigned char red, unsigned char green, unsigned char blue) {
     unsigned char* voxelData = pointToVoxel(x,y,z,s,red,green,blue);
     this->readCodeColorBufferToTree(voxelData);
diff --git a/libraries/voxels/src/VoxelTree.h b/libraries/voxels/src/VoxelTree.h
index 309766bcd2..634cccd22f 100644
--- a/libraries/voxels/src/VoxelTree.h
+++ b/libraries/voxels/src/VoxelTree.h
@@ -45,10 +45,12 @@ public:
     void printTreeForDebugging(VoxelNode *startNode);
     void reaverageVoxelColors(VoxelNode *startNode);
 	void loadVoxelsFile(const char* fileName, bool wantColorRandomizer);
-	void createSphere(float r,float xc, float yc, float zc, float s, bool solid, bool wantColorRandomizer);
-    void createVoxel(float x, float y, float z, float s, unsigned char red, unsigned char green, unsigned char blue);
 
+    void deleteVoxelAt(float x, float y, float z, float s);
+    VoxelNode* getVoxelAt(float x, float y, float z, float s) const;
+    void createVoxel(float x, float y, float z, float s, unsigned char red, unsigned char green, unsigned char blue);
     void createLine(glm::vec3 point1, glm::vec3 point2, float unitSize, rgbColor color);
+	void createSphere(float r,float xc, float yc, float zc, float s, bool solid, bool wantColorRandomizer);
 	
     void recurseTreeWithOperation(RecurseVoxelTreeOperation operation, void* extraData=NULL);
 
@@ -72,7 +74,7 @@ private:
                                        VoxelNode* node, const ViewFrustum& viewFrustum, VoxelNodeBag& bag);
 
     void recurseNodeWithOperation(VoxelNode* node, RecurseVoxelTreeOperation operation, void* extraData);
-    VoxelNode* nodeForOctalCode(VoxelNode* ancestorNode, unsigned char* needleCode, VoxelNode** parentOfFoundNode);
+    VoxelNode* nodeForOctalCode(VoxelNode* ancestorNode, unsigned char* needleCode, VoxelNode** parentOfFoundNode) const;
     VoxelNode* createMissingNode(VoxelNode* lastParentNode, unsigned char* deepestCodeToCreate);
     int readNodeData(VoxelNode *destinationNode, unsigned char* nodeData, int bufferSizeBytes);
     
diff --git a/voxel-server/src/main.cpp b/voxel-server/src/main.cpp
index 17c4915988..7d29fd1457 100644
--- a/voxel-server/src/main.cpp
+++ b/voxel-server/src/main.cpp
@@ -80,6 +80,21 @@ void addSphereScene(VoxelTree * tree, bool wantColorRandomizer) {
     float voxelSize = 1.f/32;
     printf("creating corner points...\n");
     tree->createVoxel(0              , 0              , 0              , voxelSize, 255, 255 ,255);
+
+    if (tree->getVoxelAt(0, 0, 0, voxelSize)) {
+        printf("corner point 0,0,0 exists...\n");
+    }
+
+    tree->deleteVoxelAt(0, 0, 0, voxelSize);
+    printf("attempting to delete corner point 0,0,0\n");
+
+    if (tree->getVoxelAt(0, 0, 0, voxelSize)) {
+        printf("corner point 0,0,0 exists...\n");
+    } else {
+        printf("corner point 0,0,0 does not exists...\n");
+    }
+
+
     tree->createVoxel(1.0 - voxelSize, 0              , 0              , voxelSize, 255, 0   ,0  );
     tree->createVoxel(0              , 1.0 - voxelSize, 0              , voxelSize, 0  , 255 ,0  );
     tree->createVoxel(0              , 0              , 1.0 - voxelSize, voxelSize, 0  , 0   ,255);

From f4099349e86c565d3f04ccd6b5bd098f3c6956ec Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Fri, 3 May 2013 15:13:00 -0700
Subject: [PATCH 07/30] change to encodeTreeBitstreamRecursion() to allow
 calling without viewFrustum

---
 libraries/voxels/src/VoxelTree.cpp | 43 +++++++++++++++---------------
 libraries/voxels/src/VoxelTree.h   |  9 +++----
 2 files changed, 26 insertions(+), 26 deletions(-)

diff --git a/libraries/voxels/src/VoxelTree.cpp b/libraries/voxels/src/VoxelTree.cpp
index e27e8da0ba..6ac8e6327d 100644
--- a/libraries/voxels/src/VoxelTree.cpp
+++ b/libraries/voxels/src/VoxelTree.cpp
@@ -666,8 +666,7 @@ int VoxelTree::encodeTreeBitstream(int maxEncodeLevel, VoxelNode* node, const Vi
 
     int currentEncodeLevel = 0;
     int childBytesWritten = encodeTreeBitstreamRecursion(maxEncodeLevel, currentEncodeLevel, 
-                                                         node, viewFrustum, 
-                                                         outputBuffer, availableBytes, bag);
+                                                         node, outputBuffer, availableBytes, bag, &viewFrustum);
 
     // if childBytesWritten == 1 then something went wrong... that's not possible
     assert(childBytesWritten != 1);
@@ -689,9 +688,8 @@ int VoxelTree::encodeTreeBitstream(int maxEncodeLevel, VoxelNode* node, const Vi
 }
 
 int VoxelTree::encodeTreeBitstreamRecursion(int maxEncodeLevel, int& currentEncodeLevel,
-                                            VoxelNode* node, const ViewFrustum& viewFrustum,
-                                            unsigned char* outputBuffer, int availableBytes,
-                                            VoxelNodeBag& bag) const {
+                                            VoxelNode* node, unsigned char* outputBuffer, int availableBytes,
+                                            VoxelNodeBag& bag, const ViewFrustum* viewFrustum) const {
     // How many bytes have we written so far at this level;
     int bytesAtThisLevel = 0;
 
@@ -703,21 +701,24 @@ int VoxelTree::encodeTreeBitstreamRecursion(int maxEncodeLevel, int& currentEnco
         return bytesAtThisLevel;
     }
 
-    float distance = node->distanceToCamera(viewFrustum);
-    float boundaryDistance = boundaryDistanceForRenderLevel(*node->octalCode + 1);
+    // caller can pass NULL as viewFrustum if they want everything
+    if (viewFrustum) {
+        float distance = node->distanceToCamera(*viewFrustum);
+        float boundaryDistance = boundaryDistanceForRenderLevel(*node->octalCode + 1);
 
-    // If we're too far away for our render level, then just return
-    if (distance >= boundaryDistance) {
-        return bytesAtThisLevel;
-    }
+        // If we're too far away for our render level, then just return
+        if (distance >= boundaryDistance) {
+            return bytesAtThisLevel;
+        }
 
-    // If we're at a node that is out of view, then we can return, because no nodes below us will be in view!
-    // although technically, we really shouldn't ever be here, because our callers shouldn't be calling us if
-    // we're out of view
-    if (!node->isInView(viewFrustum)) {
-        return bytesAtThisLevel;
+        // If we're at a node that is out of view, then we can return, because no nodes below us will be in view!
+        // although technically, we really shouldn't ever be here, because our callers shouldn't be calling us if
+        // we're out of view
+        if (!node->isInView(*viewFrustum)) {
+            return bytesAtThisLevel;
+        }
     }
-    
+        
     bool keepDiggingDeeper = true; // Assuming we're in view we have a great work ethic, we're always ready for more!
 
     // At any given point in writing the bitstream, the largest minimum we might need to flesh out the current level
@@ -745,11 +746,11 @@ int VoxelTree::encodeTreeBitstreamRecursion(int maxEncodeLevel, int& currentEnco
     for (int i = 0; i < MAX_CHILDREN; i++) {
         VoxelNode* childNode = node->children[i];
         bool childExists = (childNode != NULL);
-        bool childIsInView  = (childExists && childNode->isInView(viewFrustum));
+        bool childIsInView  = (childExists && (!viewFrustum || childNode->isInView(*viewFrustum)));
         if (childIsInView) {
             // Before we determine consider this further, let's see if it's in our LOD scope...
-            float distance = childNode->distanceToCamera(viewFrustum);
-            float boundaryDistance = boundaryDistanceForRenderLevel(*childNode->octalCode + 1);
+            float distance = viewFrustum ? 0 : childNode->distanceToCamera(*viewFrustum);
+            float boundaryDistance = viewFrustum ? 1 : boundaryDistanceForRenderLevel(*childNode->octalCode + 1);
 
             if (distance < boundaryDistance) {
                 inViewCount++;
@@ -822,7 +823,7 @@ int VoxelTree::encodeTreeBitstreamRecursion(int maxEncodeLevel, int& currentEnco
                 
                 int thisLevel = currentEncodeLevel;
                 int childTreeBytesOut = encodeTreeBitstreamRecursion(maxEncodeLevel, thisLevel, childNode, 
-                                                                     viewFrustum, outputBuffer, availableBytes, bag);
+                                                                     outputBuffer, availableBytes, bag, viewFrustum);
                 
                 // if the child wrote 0 bytes, it means that nothing below exists or was in view, or we ran out of space,
                 // basically, the children below don't contain any info.
diff --git a/libraries/voxels/src/VoxelTree.h b/libraries/voxels/src/VoxelTree.h
index 634cccd22f..f78f676591 100644
--- a/libraries/voxels/src/VoxelTree.h
+++ b/libraries/voxels/src/VoxelTree.h
@@ -63,13 +63,12 @@ public:
     bool isDirty() const { return _isDirty; };
     void clearDirtyBit() { _isDirty = false; };
     unsigned long int getNodesChangedFromBitstream() const { return _nodesChangedFromBitstream; };
+
+    int encodeTreeBitstreamRecursion(int maxEncodeLevel, int& currentEncodeLevel,
+                                     VoxelNode* node, unsigned char* outputBuffer, int availableBytes,
+                                     VoxelNodeBag& bag, const ViewFrustum* viewFrustum) const;
     
 private:
-    int encodeTreeBitstreamRecursion(int maxEncodeLevel, int& currentEncodeLevel,
-                                     VoxelNode* node, const ViewFrustum& viewFrustum,
-                                     unsigned char* outputBuffer, int availableBytes,
-                                     VoxelNodeBag& bag) const;
-
     int searchForColoredNodesRecursion(int maxSearchLevel, int& currentSearchLevel, 
                                        VoxelNode* node, const ViewFrustum& viewFrustum, VoxelNodeBag& bag);
 

From 66e2771135787fd9792426fb22f8867ffd4f3922 Mon Sep 17 00:00:00 2001
From: Stephen Birarda <commit@birarda.com>
Date: Fri, 3 May 2013 15:58:55 -0700
Subject: [PATCH 08/30] some cleanup in interface main

---
 interface/src/main.cpp | 24 +++++++++---------------
 1 file changed, 9 insertions(+), 15 deletions(-)

diff --git a/interface/src/main.cpp b/interface/src/main.cpp
index a1f8778ca7..5525a94dc8 100644
--- a/interface/src/main.cpp
+++ b/interface/src/main.cpp
@@ -208,8 +208,7 @@ bool justStarted = true;
 
 
 //  Every second, check the frame rates and other stuff
-void Timer(int extra)
-{
+void Timer(int extra) {
     gettimeofday(&timerEnd, NULL);
     FPS = (float)frameCount / ((float)diffclock(&timerStart, &timerEnd) / 1000.f);
     packetsPerSecond = (float)packetCount / ((float)diffclock(&timerStart, &timerEnd) / 1000.f);
@@ -227,8 +226,7 @@ void Timer(int extra)
     }
 }
 
-void displayStats(void)
-{
+void displayStats(void) {
     int statsVerticalOffset = 50;
     if (::menuOn == 0) {
         statsVerticalOffset = 8;
@@ -269,6 +267,7 @@ void displayStats(void)
     
     Agent *avatarMixer = AgentList::getInstance()->soloAgentOfType(AGENT_TYPE_AVATAR_MIXER);
     char avatarMixerStats[200];
+    
     if (avatarMixer) {
         sprintf(avatarMixerStats, "Avatar Mixer: %.f kbps, %.f pps",
                 roundf(avatarMixer->getAverageKilobitsPerSecond()),
@@ -276,6 +275,7 @@ void displayStats(void)
     } else {
         sprintf(avatarMixerStats, "No Avatar Mixer");
     }
+    
     drawtext(10, statsVerticalOffset + 330, 0.10f, 0, 1.0, 0, avatarMixerStats);
     
 	if (::perfStatsOn) {
@@ -293,8 +293,7 @@ void displayStats(void)
 	}
 }
 
-void initDisplay(void)
-{
+void initDisplay(void) {
     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
     glEnable(GL_BLEND);
     glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
@@ -306,8 +305,7 @@ void initDisplay(void)
     if (fullscreen) glutFullScreen();
 }
 
-void init(void)
-{
+void init(void) {
     voxels.init();
     voxels.setViewerAvatar(&myAvatar);
     voxels.setCamera(&myCamera);
@@ -360,8 +358,7 @@ void terminate () {
     exit(EXIT_SUCCESS);
 }
 
-void reset_sensors()
-{
+void reset_sensors() {
     
     myAvatar.setPosition(start_location);
     headMouseX = WIDTH/2;
@@ -377,16 +374,13 @@ void reset_sensors()
 //
 //  Using gyro data, update both view frustum and avatar head position
 //
-void updateAvatar(float frametime)
-{
+void updateAvatar(float frametime) {
     float gyroPitchRate = serialPort.getRelativeValue(HEAD_PITCH_RATE);
     float gyroYawRate   = serialPort.getRelativeValue(HEAD_YAW_RATE  );
     
     myAvatar.UpdateGyros(frametime, &serialPort, &gravity);
 		
-    //  
     //  Update gyro-based mouse (X,Y on screen)
-    // 
     const float MIN_MOUSE_RATE = 30.0;
     const float MOUSE_SENSITIVITY = 0.1f;
     if (powf(gyroYawRate*gyroYawRate + 
@@ -401,7 +395,7 @@ void updateAvatar(float frametime)
     headMouseY = min(headMouseY, HEIGHT);
     
     //  Update head and body pitch and yaw based on measured gyro rates
-        if (::gyroLook) {
+    if (::gyroLook) {
         // Yaw
         const float MIN_YAW_RATE = 50;
         const float YAW_SENSITIVITY = 1.0;

From e3164b397607dd98074ae1d5af2dc6584551a5bb Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Fri, 3 May 2013 17:09:43 -0700
Subject: [PATCH 09/30] added read/write voxel files

---
 libraries/voxels/src/VoxelTree.cpp | 53 ++++++++++++++++++++++++++++--
 libraries/voxels/src/VoxelTree.h   | 10 ++++--
 voxel-server/src/main.cpp          | 25 +++++++++++++-
 3 files changed, 82 insertions(+), 6 deletions(-)

diff --git a/libraries/voxels/src/VoxelTree.cpp b/libraries/voxels/src/VoxelTree.cpp
index 6ac8e6327d..bfa59b965b 100644
--- a/libraries/voxels/src/VoxelTree.cpp
+++ b/libraries/voxels/src/VoxelTree.cpp
@@ -205,7 +205,7 @@ int VoxelTree::readNodeData(VoxelNode* destinationNode,
     return bytesRead;
 }
 
-void VoxelTree::readBitstreamToTree(unsigned char * bitstream, int bufferSizeBytes) {
+void VoxelTree::readBitstreamToTree(unsigned char * bitstream, unsigned long int bufferSizeBytes) {
     int bytesRead = 0;
     unsigned char* bitstreamAt = bitstream;
     
@@ -749,8 +749,8 @@ int VoxelTree::encodeTreeBitstreamRecursion(int maxEncodeLevel, int& currentEnco
         bool childIsInView  = (childExists && (!viewFrustum || childNode->isInView(*viewFrustum)));
         if (childIsInView) {
             // Before we determine consider this further, let's see if it's in our LOD scope...
-            float distance = viewFrustum ? 0 : childNode->distanceToCamera(*viewFrustum);
-            float boundaryDistance = viewFrustum ? 1 : boundaryDistanceForRenderLevel(*childNode->octalCode + 1);
+            float distance = viewFrustum ? childNode->distanceToCamera(*viewFrustum) : 0;
+            float boundaryDistance = viewFrustum ? boundaryDistanceForRenderLevel(*childNode->octalCode + 1) : 1;
 
             if (distance < boundaryDistance) {
                 inViewCount++;
@@ -863,3 +863,50 @@ int VoxelTree::encodeTreeBitstreamRecursion(int maxEncodeLevel, int& currentEnco
     } // end keepDiggingDeeper
     return bytesAtThisLevel;
 }
+
+void VoxelTree::readFromFileV2(const char* fileName, bool reset) {
+    std::ifstream file(fileName, std::ios::in|std::ios::binary);
+
+    if(file.is_open()) {
+		printLog("loading file...\n");
+		
+		// get file length....
+        unsigned long start = file.tellg();
+        file.seekg( 0, std::ios::end );
+        unsigned long end = file.tellg();
+        unsigned long size = end - start;
+        
+        // read the entire file into a buffer, WHAT!? Why not.
+        unsigned char* entireFile = new unsigned char[size];
+        file.read((char*)entireFile, size);
+        readBitstreamToTree(entireFile,size);
+        delete[] entireFile;
+    		
+        file.close();
+    }
+}
+
+void VoxelTree::writeToFileV2(const char* fileName) const {
+
+    std::ofstream file(fileName, std::ios::out|std::ios::binary);
+
+    if(file.is_open()) {
+        VoxelNodeBag nodeBag;
+        nodeBag.insert(rootNode);
+
+        static unsigned char tempOutputBuffer[MAX_VOXEL_PACKET_SIZE - 1]; // save on allocs by making this static
+        int bytesWritten = 0;
+
+        while (!nodeBag.isEmpty()) {
+            VoxelNode* subTree = nodeBag.extract();
+            int currentEncodeLevel = 0;
+            bytesWritten = encodeTreeBitstreamRecursion(INT_MAX, currentEncodeLevel, subTree,
+                                                          &tempOutputBuffer[0], MAX_VOXEL_PACKET_SIZE - 1, 
+                                                          nodeBag, NULL);
+                                                      
+            file.write((const char*)&tempOutputBuffer[0], bytesWritten);
+        }
+    }
+    file.close();
+}
+
diff --git a/libraries/voxels/src/VoxelTree.h b/libraries/voxels/src/VoxelTree.h
index f78f676591..db4f78b9b4 100644
--- a/libraries/voxels/src/VoxelTree.h
+++ b/libraries/voxels/src/VoxelTree.h
@@ -39,12 +39,11 @@ public:
 	void eraseAllVoxels();
 
 	void processRemoveVoxelBitstream(unsigned char * bitstream, int bufferSizeBytes);
-    void readBitstreamToTree(unsigned char * bitstream, int bufferSizeBytes);
+    void readBitstreamToTree(unsigned char * bitstream,  unsigned long int bufferSizeBytes);
     void readCodeColorBufferToTree(unsigned char *codeColorBuffer);
 	void deleteVoxelCodeFromTree(unsigned char *codeBuffer);
     void printTreeForDebugging(VoxelNode *startNode);
     void reaverageVoxelColors(VoxelNode *startNode);
-	void loadVoxelsFile(const char* fileName, bool wantColorRandomizer);
 
     void deleteVoxelAt(float x, float y, float z, float s);
     VoxelNode* getVoxelAt(float x, float y, float z, float s) const;
@@ -67,6 +66,13 @@ public:
     int encodeTreeBitstreamRecursion(int maxEncodeLevel, int& currentEncodeLevel,
                                      VoxelNode* node, unsigned char* outputBuffer, int availableBytes,
                                      VoxelNodeBag& bag, const ViewFrustum* viewFrustum) const;
+
+    // Note: this assumes the fileFormat is the HIO individual voxels code files
+	void loadVoxelsFile(const char* fileName, bool wantColorRandomizer);
+
+    // these will read/write files that match the wireformat, including the 'V' leading
+    void writeToFileV2(const char* filename) const;
+    void readFromFileV2(const char* filename, bool reset);
     
 private:
     int searchForColoredNodesRecursion(int maxSearchLevel, int& currentSearchLevel, 
diff --git a/voxel-server/src/main.cpp b/voxel-server/src/main.cpp
index 7d29fd1457..f827156698 100644
--- a/voxel-server/src/main.cpp
+++ b/voxel-server/src/main.cpp
@@ -94,6 +94,29 @@ void addSphereScene(VoxelTree * tree, bool wantColorRandomizer) {
         printf("corner point 0,0,0 does not exists...\n");
     }
 
+    printf("creating corner points...\n");
+    tree->createVoxel(0              , 0              , 0              , voxelSize, 255, 255 ,255);
+    
+    printf("saving file voxels.hio2...\n");
+    tree->writeToFileV2("voxels.hio2");
+    printf("erasing all voxels...\n");
+    tree->eraseAllVoxels();
+
+    if (tree->getVoxelAt(0, 0, 0, voxelSize)) {
+        printf("corner point 0,0,0 exists...\n");
+    } else {
+        printf("corner point 0,0,0 does not exists...\n");
+    }
+
+    printf("loading file voxels.hio2...\n");
+    tree->readFromFileV2("voxels.hio2",true);
+
+    if (tree->getVoxelAt(0, 0, 0, voxelSize)) {
+        printf("corner point 0,0,0 exists...\n");
+    } else {
+        printf("corner point 0,0,0 does not exists...\n");
+    }
+
 
     tree->createVoxel(1.0 - voxelSize, 0              , 0              , voxelSize, 255, 0   ,0  );
     tree->createVoxel(0              , 1.0 - voxelSize, 0              , voxelSize, 0  , 255 ,0  );
@@ -373,7 +396,7 @@ int main(int argc, const char * argv[])
     // Handle Local Domain testing with the --local command line
     const char* local = "--local";
     bool wantLocalDomain = cmdOptionExists(argc, argv,local);
-    if (wantLocalDomain) {
+    if (true || wantLocalDomain) {
     	printf("Local Domain MODE!\n");
 		int ip = getLocalAddress();
 		sprintf(DOMAIN_IP,"%d.%d.%d.%d", (ip & 0xFF), ((ip >> 8) & 0xFF),((ip >> 16) & 0xFF), ((ip >> 24) & 0xFF));

From 0656b5b14fd4da523401913807768910e954bce5 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Fri, 3 May 2013 17:12:37 -0700
Subject: [PATCH 10/30] fixed acidental local mode

---
 voxel-server/src/main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/voxel-server/src/main.cpp b/voxel-server/src/main.cpp
index f827156698..dcf7588544 100644
--- a/voxel-server/src/main.cpp
+++ b/voxel-server/src/main.cpp
@@ -396,7 +396,7 @@ int main(int argc, const char * argv[])
     // Handle Local Domain testing with the --local command line
     const char* local = "--local";
     bool wantLocalDomain = cmdOptionExists(argc, argv,local);
-    if (true || wantLocalDomain) {
+    if (wantLocalDomain) {
     	printf("Local Domain MODE!\n");
 		int ip = getLocalAddress();
 		sprintf(DOMAIN_IP,"%d.%d.%d.%d", (ip & 0xFF), ((ip >> 8) & 0xFF),((ip >> 16) & 0xFF), ((ip >> 24) & 0xFF));

From f8cbe34e070faea0c0860877d44d8a01020b09a4 Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Fri, 3 May 2013 17:27:57 -0700
Subject: [PATCH 11/30] Added basic ray intersection testing to VoxelTree.

---
 libraries/voxels/src/AABox.cpp     | 49 ++++++++++++++++++++++++++++++
 libraries/voxels/src/AABox.h       |  5 ++-
 libraries/voxels/src/VoxelTree.cpp | 34 +++++++++++++++++++++
 libraries/voxels/src/VoxelTree.h   |  2 ++
 4 files changed, 89 insertions(+), 1 deletion(-)

diff --git a/libraries/voxels/src/AABox.cpp b/libraries/voxels/src/AABox.cpp
index 0187bae853..d79c36882c 100755
--- a/libraries/voxels/src/AABox.cpp
+++ b/libraries/voxels/src/AABox.cpp
@@ -8,6 +8,8 @@
 //  Simple axis aligned box class.
 //
 
+#include "SharedUtil.h"
+
 #include "AABox.h"
 
 
@@ -66,3 +68,50 @@ glm::vec3 AABox::getVertexN(const glm::vec3 &normal) const {
 
 	return(res);
 }
+
+// determines whether a value is within the extents
+static bool isWithin(float value, float corner, float size) {
+    return value >= corner && value <= corner + size;
+}
+
+bool AABox::contains(const glm::vec3& point) const {
+    return isWithin(point.x, _corner.x, _size.x) &&
+        isWithin(point.y, _corner.y, _size.y) &&
+        isWithin(point.z, _corner.z, _size.z);
+}
+
+// finds the intersection between the closer plane in one direction
+static bool findIntersection(float origin, float direction, float corner, float size, float* t) {
+    if (direction > EPSILON) {
+        *t = (corner - origin) / direction;
+        return true;
+        
+    } else if (direction < -EPSILON) {
+        *t = (corner + size - origin) / direction;
+        return true;
+    }
+    return false;
+}
+
+bool AABox::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float* t) const {
+    // handle the trivial case where the box contains the origin
+    if (contains(origin)) {
+        *t = 0;
+        return true;
+    }
+    // check each direction
+    float nt;
+    if (findIntersection(origin.x, direction.x, _corner.x, _size.x, &nt) &&
+            isWithin(origin.y + nt*direction.y, _corner.y, _size.y) &&
+            isWithin(origin.z + nt*direction.z, _corner.z, _size.z) ||
+        findIntersection(origin.y, direction.y, _corner.y, _size.y, &nt) &&
+            isWithin(origin.x + nt*direction.x, _corner.x, _size.x) &&
+            isWithin(origin.z + nt*direction.z, _corner.z, _size.z) ||
+        findIntersection(origin.z, direction.z, _corner.z, _size.z, &nt) &&
+            isWithin(origin.y + nt*direction.y, _corner.y, _size.y) &&
+            isWithin(origin.x + nt*direction.x, _corner.x, _size.x)) {
+        *t = nt;
+        return true;
+    }
+    return false;
+}
diff --git a/libraries/voxels/src/AABox.h b/libraries/voxels/src/AABox.h
index 0a69b8608d..0dae354860 100755
--- a/libraries/voxels/src/AABox.h
+++ b/libraries/voxels/src/AABox.h
@@ -35,10 +35,13 @@ public:
 	const glm::vec3& getCorner() const { return _corner; };
 	const glm::vec3& getSize() const { return _size; };
 
+    bool contains(const glm::vec3& point) const;
+    bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float* t) const;
+
 private:
 	glm::vec3 _corner;
 	glm::vec3 _size;
 };
 
 
-#endif
\ No newline at end of file
+#endif
diff --git a/libraries/voxels/src/VoxelTree.cpp b/libraries/voxels/src/VoxelTree.cpp
index 21118c929e..a13675f00d 100644
--- a/libraries/voxels/src/VoxelTree.cpp
+++ b/libraries/voxels/src/VoxelTree.cpp
@@ -546,7 +546,41 @@ int VoxelTree::searchForColoredNodes(int maxSearchLevel, VoxelNode* node, const
     return levelReached;
 }
 
+// combines the ray cast arguments into a single object
+class RayArgs {
+public:
+    glm::vec3 origin;
+    glm::vec3 direction;
+    VoxelNode** node;
+    float* t;
+    bool found;
+};
 
+bool findRayOperation(VoxelNode* node, void* extraData) {
+    RayArgs* args = static_cast<RayArgs*>(extraData);
+    AABox box;
+    node->getAABox(box);
+    float t;
+    if (!box.findRayIntersection(args->origin, args->direction, &t)) {
+        return false;
+    }
+    if (!node->isLeaf()) {
+        return true; // recurse on children
+    }
+    if (!args->found || t < *(args->t)) {
+        *(args->node) = node;
+        *(args->t) = t;
+        args->found = true;
+    }
+    return false;
+}
+
+bool VoxelTree::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, VoxelNode** node, float* t)
+{
+    RayArgs args = { origin, direction, node, t };
+    recurseTreeWithOperation(findRayOperation, &args);
+    return args.found;
+}
 
 int VoxelTree::searchForColoredNodesRecursion(int maxSearchLevel, int& currentSearchLevel, 
                                               VoxelNode* node, const ViewFrustum& viewFrustum, VoxelNodeBag& bag) {
diff --git a/libraries/voxels/src/VoxelTree.h b/libraries/voxels/src/VoxelTree.h
index 309766bcd2..e0346ebdb5 100644
--- a/libraries/voxels/src/VoxelTree.h
+++ b/libraries/voxels/src/VoxelTree.h
@@ -61,6 +61,8 @@ public:
     bool isDirty() const { return _isDirty; };
     void clearDirtyBit() { _isDirty = false; };
     unsigned long int getNodesChangedFromBitstream() const { return _nodesChangedFromBitstream; };
+
+    bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, VoxelNode** node, float* t);
     
 private:
     int encodeTreeBitstreamRecursion(int maxEncodeLevel, int& currentEncodeLevel,

From 2fde890dc2a3f1642a50aface45578e2209ab9a7 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Fri, 3 May 2013 18:27:40 -0700
Subject: [PATCH 12/30] added save/load persistant file on server startup

---
 voxel-server/src/main.cpp | 22 ++++++++++++++++++++++
 1 file changed, 22 insertions(+)

diff --git a/voxel-server/src/main.cpp b/voxel-server/src/main.cpp
index dcf7588544..d029edaeff 100644
--- a/voxel-server/src/main.cpp
+++ b/voxel-server/src/main.cpp
@@ -43,6 +43,7 @@ int PACKETS_PER_CLIENT_PER_INTERVAL = 20;
 const int MAX_VOXEL_TREE_DEPTH_LEVELS = 4;
 
 VoxelTree randomTree;
+bool wantVoxelPersist = true;
 
 bool wantColorRandomizer = false;
 bool debugVoxelSending = false;
@@ -387,9 +388,30 @@ void attachVoxelAgentDataToAgent(Agent *newAgent) {
     }
 }
 
+void terminate (int sig) {
+    printf("terminating now...\n");
+    if (::wantVoxelPersist) {
+        printf("saving voxels to file...\n");
+        randomTree.writeToFileV2("voxels.hio2");
+        printf("DONE saving voxels to file...\n");
+    }
+    exit(EXIT_SUCCESS);
+}
+
 
 int main(int argc, const char * argv[])
 {
+    signal(SIGABRT,&terminate);
+    signal(SIGTERM,&terminate);
+    signal(SIGINT,&terminate);
+    
+    // if we want Voxel Persistance, load the local file now...
+    if (::wantVoxelPersist) {
+        printf("loading voxels from file...\n");
+        randomTree.readFromFileV2("voxels.hio2",true);
+        printf("DONE loading voxels from file...\n");
+    }
+
     AgentList* agentList = AgentList::createInstance(AGENT_TYPE_VOXEL, VOXEL_LISTEN_PORT);
     setvbuf(stdout, NULL, _IOLBF, 0);
 

From 2c128fd8132acd3fc8eae309195279cce57ae40a Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Fri, 3 May 2013 19:19:48 -0700
Subject: [PATCH 13/30] added voxel-edit tool, as well as made voxel file
 read/write work, disabled voxel persist on server shutdown

---
 CMakeLists.txt                     |   3 +-
 libraries/voxels/src/VoxelTree.cpp |  35 ++++-----
 libraries/voxels/src/VoxelTree.h   |  13 ++-
 voxel-edit/CMakeLists.txt          |  26 ++++++
 voxel-edit/src/main.cpp            | 122 +++++++++++++++++++++++++++++
 voxel-server/src/main.cpp          |  17 ++--
 6 files changed, 182 insertions(+), 34 deletions(-)
 create mode 100644 voxel-edit/CMakeLists.txt
 create mode 100644 voxel-edit/src/main.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2a4a8d6c01..9af86e2891 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,4 +10,5 @@ add_subdirectory(interface)
 add_subdirectory(injector)
 add_subdirectory(pairing-server)
 add_subdirectory(space-server)
-add_subdirectory(voxel-server)
\ No newline at end of file
+add_subdirectory(voxel-server)
+add_subdirectory(voxel-edit)
\ No newline at end of file
diff --git a/libraries/voxels/src/VoxelTree.cpp b/libraries/voxels/src/VoxelTree.cpp
index bfa59b965b..7a1fa48fa4 100644
--- a/libraries/voxels/src/VoxelTree.cpp
+++ b/libraries/voxels/src/VoxelTree.cpp
@@ -644,15 +644,14 @@ int VoxelTree::searchForColoredNodesRecursion(int maxSearchLevel, int& currentSe
     return maxChildLevel;
 }
 
-int VoxelTree::encodeTreeBitstream(int maxEncodeLevel, VoxelNode* node, const ViewFrustum& viewFrustum,
-                                   unsigned char* outputBuffer, int availableBytes, 
-                                   VoxelNodeBag& bag) {
+int VoxelTree::encodeTreeBitstream(int maxEncodeLevel, VoxelNode* node, unsigned char* outputBuffer, int availableBytes, 
+                                   VoxelNodeBag& bag, const ViewFrustum* viewFrustum) const {
 
     // How many bytes have we written so far at this level;
     int bytesWritten = 0;
 
     // If we're at a node that is out of view, then we can return, because no nodes below us will be in view!
-    if (!node->isInView(viewFrustum)) {
+    if (viewFrustum && !node->isInView(*viewFrustum)) {
         return bytesWritten;
     }
 
@@ -666,7 +665,7 @@ int VoxelTree::encodeTreeBitstream(int maxEncodeLevel, VoxelNode* node, const Vi
 
     int currentEncodeLevel = 0;
     int childBytesWritten = encodeTreeBitstreamRecursion(maxEncodeLevel, currentEncodeLevel, 
-                                                         node, outputBuffer, availableBytes, bag, &viewFrustum);
+                                                         node, outputBuffer, availableBytes, bag, viewFrustum);
 
     // if childBytesWritten == 1 then something went wrong... that's not possible
     assert(childBytesWritten != 1);
@@ -865,21 +864,18 @@ int VoxelTree::encodeTreeBitstreamRecursion(int maxEncodeLevel, int& currentEnco
 }
 
 void VoxelTree::readFromFileV2(const char* fileName, bool reset) {
-    std::ifstream file(fileName, std::ios::in|std::ios::binary);
-
+    std::ifstream file(fileName, std::ios::in|std::ios::binary|std::ios::ate);
     if(file.is_open()) {
 		printLog("loading file...\n");
 		
 		// get file length....
-        unsigned long start = file.tellg();
-        file.seekg( 0, std::ios::end );
-        unsigned long end = file.tellg();
-        unsigned long size = end - start;
+        unsigned long fileLength = file.tellg();
+        file.seekg( 0, std::ios::beg );
         
         // read the entire file into a buffer, WHAT!? Why not.
-        unsigned char* entireFile = new unsigned char[size];
-        file.read((char*)entireFile, size);
-        readBitstreamToTree(entireFile,size);
+        unsigned char* entireFile = new unsigned char[fileLength];
+        file.read((char*)entireFile, fileLength);
+        readBitstreamToTree(entireFile, fileLength);
         delete[] entireFile;
     		
         file.close();
@@ -894,17 +890,14 @@ void VoxelTree::writeToFileV2(const char* fileName) const {
         VoxelNodeBag nodeBag;
         nodeBag.insert(rootNode);
 
-        static unsigned char tempOutputBuffer[MAX_VOXEL_PACKET_SIZE - 1]; // save on allocs by making this static
+        static unsigned char outputBuffer[MAX_VOXEL_PACKET_SIZE - 1]; // save on allocs by making this static
         int bytesWritten = 0;
-
+        
         while (!nodeBag.isEmpty()) {
             VoxelNode* subTree = nodeBag.extract();
-            int currentEncodeLevel = 0;
-            bytesWritten = encodeTreeBitstreamRecursion(INT_MAX, currentEncodeLevel, subTree,
-                                                          &tempOutputBuffer[0], MAX_VOXEL_PACKET_SIZE - 1, 
-                                                          nodeBag, NULL);
+            bytesWritten = encodeTreeBitstream(INT_MAX, subTree, &outputBuffer[0], MAX_VOXEL_PACKET_SIZE - 1, nodeBag, NULL);
                                                       
-            file.write((const char*)&tempOutputBuffer[0], bytesWritten);
+            file.write((const char*)&outputBuffer[0], bytesWritten);
         }
     }
     file.close();
diff --git a/libraries/voxels/src/VoxelTree.h b/libraries/voxels/src/VoxelTree.h
index db4f78b9b4..440345e119 100644
--- a/libraries/voxels/src/VoxelTree.h
+++ b/libraries/voxels/src/VoxelTree.h
@@ -53,9 +53,8 @@ public:
 	
     void recurseTreeWithOperation(RecurseVoxelTreeOperation operation, void* extraData=NULL);
 
-    int encodeTreeBitstream(int maxEncodeLevel, VoxelNode* node, const ViewFrustum& viewFrustum,
-                            unsigned char* outputBuffer, int availableBytes,
-                            VoxelNodeBag& bag);
+    int encodeTreeBitstream(int maxEncodeLevel, VoxelNode* node, unsigned char* outputBuffer, int availableBytes,
+                            VoxelNodeBag& bag, const ViewFrustum* viewFrustum) const;
 
     int searchForColoredNodes(int maxSearchLevel, VoxelNode* node, const ViewFrustum& viewFrustum, VoxelNodeBag& bag);
 
@@ -63,10 +62,6 @@ public:
     void clearDirtyBit() { _isDirty = false; };
     unsigned long int getNodesChangedFromBitstream() const { return _nodesChangedFromBitstream; };
 
-    int encodeTreeBitstreamRecursion(int maxEncodeLevel, int& currentEncodeLevel,
-                                     VoxelNode* node, unsigned char* outputBuffer, int availableBytes,
-                                     VoxelNodeBag& bag, const ViewFrustum* viewFrustum) const;
-
     // Note: this assumes the fileFormat is the HIO individual voxels code files
 	void loadVoxelsFile(const char* fileName, bool wantColorRandomizer);
 
@@ -75,6 +70,10 @@ public:
     void readFromFileV2(const char* filename, bool reset);
     
 private:
+    int encodeTreeBitstreamRecursion(int maxEncodeLevel, int& currentEncodeLevel,
+                                     VoxelNode* node, unsigned char* outputBuffer, int availableBytes,
+                                     VoxelNodeBag& bag, const ViewFrustum* viewFrustum) const;
+
     int searchForColoredNodesRecursion(int maxSearchLevel, int& currentSearchLevel, 
                                        VoxelNode* node, const ViewFrustum& viewFrustum, VoxelNodeBag& bag);
 
diff --git a/voxel-edit/CMakeLists.txt b/voxel-edit/CMakeLists.txt
new file mode 100644
index 0000000000..f7acb26e92
--- /dev/null
+++ b/voxel-edit/CMakeLists.txt
@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 2.8)
+
+set(TARGET_NAME voxel-edit)
+
+set(ROOT_DIR ..)
+set(MACRO_DIR ${ROOT_DIR}/cmake/macros)
+
+# setup for find modules
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/../cmake/modules/")
+
+# set up the external glm library
+include(${MACRO_DIR}/IncludeGLM.cmake)
+include_glm(${TARGET_NAME} ${ROOT_DIR})
+
+include(${MACRO_DIR}/SetupHifiProject.cmake)
+
+setup_hifi_project(${TARGET_NAME})
+
+# link in the shared library
+include(${MACRO_DIR}/LinkHifiLibrary.cmake)
+link_hifi_library(shared ${TARGET_NAME} ${ROOT_DIR})
+
+# link in the hifi voxels library
+link_hifi_library(voxels ${TARGET_NAME} ${ROOT_DIR})
+
+
diff --git a/voxel-edit/src/main.cpp b/voxel-edit/src/main.cpp
new file mode 100644
index 0000000000..929b696650
--- /dev/null
+++ b/voxel-edit/src/main.cpp
@@ -0,0 +1,122 @@
+//
+//  main.cpp
+//  Voxel Edit
+//
+//  Created by Brad Hefta-Gaub on 05/03/13.
+//  Copyright (c) 2013 High Fidelity, Inc. All rights reserved.
+//
+
+#include <VoxelTree.h>
+
+VoxelTree myTree;
+
+int _nodeCount=0;
+bool countVoxelsOperation(VoxelNode* node, void* extraData) {
+    if (node->isColored()){
+        _nodeCount++;
+    }
+    return true; // keep going
+}
+
+void addScene(VoxelTree * tree) {
+    printf("adding scene...\n");
+
+    float voxelSize = 1.f/32;
+    
+    // Here's an example of how to create a voxel.
+    printf("creating corner points...\n");
+    tree->createVoxel(0, 0, 0, voxelSize, 255, 255 ,255);
+
+    // Here's an example of how to test if a voxel exists
+    VoxelNode* node = tree->getVoxelAt(0, 0, 0, voxelSize);
+    if (node) {
+        // and how to access it's color
+        printf("corner point 0,0,0 exists... color is (%d,%d,%d) \n", 
+            node->getColor()[0], node->getColor()[1], node->getColor()[2]);
+    }
+
+    // here's an example of how to delete a voxel
+    printf("attempting to delete corner point 0,0,0\n");
+    tree->deleteVoxelAt(0, 0, 0, voxelSize);
+
+    // Test to see that the delete worked... it should be FALSE...
+    if (tree->getVoxelAt(0, 0, 0, voxelSize)) {
+        printf("corner point 0,0,0 exists...\n");
+    } else {
+        printf("corner point 0,0,0 does not exists...\n");
+    }
+
+    // Now some more examples... a little more complex
+    printf("creating corner points...\n");
+    tree->createVoxel(0              , 0              , 0              , voxelSize, 255, 255 ,255);
+
+    
+    tree->createVoxel(1.0 - voxelSize, 0              , 0              , voxelSize, 255, 0   ,0  );
+    tree->createVoxel(0              , 1.0 - voxelSize, 0              , voxelSize, 0  , 255 ,0  );
+    tree->createVoxel(0              , 0              , 1.0 - voxelSize, voxelSize, 0  , 0   ,255);
+    tree->createVoxel(1.0 - voxelSize, 0              , 1.0 - voxelSize, voxelSize, 255, 0   ,255);
+    tree->createVoxel(0              , 1.0 - voxelSize, 1.0 - voxelSize, voxelSize, 0  , 255 ,255);
+    tree->createVoxel(1.0 - voxelSize, 1.0 - voxelSize, 0              , voxelSize, 255, 255 ,0  );
+    tree->createVoxel(1.0 - voxelSize, 1.0 - voxelSize, 1.0 - voxelSize, voxelSize, 255, 255 ,255);
+    printf("DONE creating corner points...\n");
+
+    // Now some more examples... creating some lines using the line primitive
+    printf("creating voxel lines...\n");
+    float lineVoxelSize = 0.99f/256;
+    rgbColor red   = {255,0,0};
+    rgbColor green = {0,255,0};
+    rgbColor blue  = {0,0,255};
+    tree->createLine(glm::vec3(0, 0, 0), glm::vec3(0, 0, 1), lineVoxelSize, blue);
+    tree->createLine(glm::vec3(0, 0, 0), glm::vec3(1, 0, 0), lineVoxelSize, red);
+    tree->createLine(glm::vec3(0, 0, 0), glm::vec3(0, 1, 0), lineVoxelSize, green);
+    printf("DONE creating lines...\n");
+
+    // Now some more examples... creating some spheres using the sphere primitive
+    int sphereBaseSize = 512;
+    printf("creating spheres...\n");
+    tree->createSphere(0.25, 0.5, 0.5, 0.5, (1.0 / sphereBaseSize), true, false);
+    printf("one sphere added...\n");
+    tree->createSphere(0.030625, 0.5, 0.5, (0.25-0.06125), (1.0 / (sphereBaseSize * 2)), true, true);
+
+
+    printf("two spheres added...\n");
+    tree->createSphere(0.030625, (0.75 - 0.030625), (0.75 - 0.030625), (0.75 - 0.06125), (1.0 / (sphereBaseSize * 2)), true, true);
+    printf("three spheres added...\n");
+    tree->createSphere(0.030625, (0.75 - 0.030625), (0.75 - 0.030625), 0.06125, (1.0 / (sphereBaseSize * 2)), true, true);
+    printf("four spheres added...\n");
+    tree->createSphere(0.030625, (0.75 - 0.030625), 0.06125, (0.75 - 0.06125), (1.0 / (sphereBaseSize * 2)), true, true);
+    printf("five spheres added...\n");
+    tree->createSphere(0.06125, 0.125, 0.125, (0.75 - 0.125), (1.0 / (sphereBaseSize * 2)), true, true);
+
+    float radius = 0.0125f;
+    printf("6 spheres added...\n");
+    tree->createSphere(radius, 0.25, radius * 5.0f, 0.25, (1.0 / 4096), true, true);
+    printf("7 spheres added...\n");
+    tree->createSphere(radius, 0.125, radius * 5.0f, 0.25, (1.0 / 4096), true, true);
+    printf("8 spheres added...\n");
+    tree->createSphere(radius, 0.075, radius * 5.0f, 0.25, (1.0 / 4096), true, true);
+    printf("9 spheres added...\n");
+    tree->createSphere(radius, 0.05, radius * 5.0f, 0.25, (1.0 / 4096), true, true);
+    printf("10 spheres added...\n");
+    tree->createSphere(radius, 0.025, radius * 5.0f, 0.25, (1.0 / 4096), true, true);
+    printf("11 spheres added...\n");
+    printf("DONE creating spheres...\n");
+
+    // Here's an example of how to recurse the tree and do some operation on the nodes as you recurse them.
+    // This one is really simple, it just couts them...
+    // Look at the function countVoxelsOperation() for an example of how you could use this function
+    _nodeCount=0;
+    tree->recurseTreeWithOperation(countVoxelsOperation);
+    printf("Nodes after adding scene %d nodes\n", _nodeCount);
+
+    printf("DONE adding scene of spheres...\n");
+}
+
+
+int main(int argc, const char * argv[])
+{
+    addScene(&myTree);
+    myTree.writeToFileV2("voxels.hio2");
+    
+    return 0;
+}
\ No newline at end of file
diff --git a/voxel-server/src/main.cpp b/voxel-server/src/main.cpp
index d029edaeff..678ef9ef00 100644
--- a/voxel-server/src/main.cpp
+++ b/voxel-server/src/main.cpp
@@ -284,9 +284,9 @@ void voxelDistributor(AgentList* agentList, AgentList::iterator& agent, VoxelAge
         while (packetsSentThisInterval < PACKETS_PER_CLIENT_PER_INTERVAL) {
             if (!agentData->nodeBag.isEmpty()) {
                 VoxelNode* subTree = agentData->nodeBag.extract();
-                bytesWritten = randomTree.encodeTreeBitstream(agentData->getMaxSearchLevel(), subTree, viewFrustum, 
+                bytesWritten = randomTree.encodeTreeBitstream(agentData->getMaxSearchLevel(), subTree,
                                                               &tempOutputBuffer[0], MAX_VOXEL_PACKET_SIZE - 1, 
-                                                              agentData->nodeBag);
+                                                              agentData->nodeBag, &viewFrustum);
 
                 if (agentData->getAvailable() >= bytesWritten) {
                     agentData->writeToPacket(&tempOutputBuffer[0], bytesWritten);
@@ -390,7 +390,11 @@ void attachVoxelAgentDataToAgent(Agent *newAgent) {
 
 void terminate (int sig) {
     printf("terminating now...\n");
-    if (::wantVoxelPersist) {
+    if (false && ::wantVoxelPersist) {
+        _nodeCount=0;
+        ::randomTree.recurseTreeWithOperation(countVoxelsOperation);
+        printf("Nodes in scene before saving: %d nodes\n", _nodeCount);
+
         printf("saving voxels to file...\n");
         randomTree.writeToFileV2("voxels.hio2");
         printf("DONE saving voxels to file...\n");
@@ -408,8 +412,11 @@ int main(int argc, const char * argv[])
     // if we want Voxel Persistance, load the local file now...
     if (::wantVoxelPersist) {
         printf("loading voxels from file...\n");
-        randomTree.readFromFileV2("voxels.hio2",true);
+        ::randomTree.readFromFileV2("voxels.hio2",true);
         printf("DONE loading voxels from file...\n");
+        _nodeCount=0;
+        ::randomTree.recurseTreeWithOperation(countVoxelsOperation);
+        printf("Nodes after loading scene %d nodes\n", _nodeCount);
     }
 
     AgentList* agentList = AgentList::createInstance(AGENT_TYPE_VOXEL, VOXEL_LISTEN_PORT);
@@ -418,7 +425,7 @@ int main(int argc, const char * argv[])
     // Handle Local Domain testing with the --local command line
     const char* local = "--local";
     bool wantLocalDomain = cmdOptionExists(argc, argv,local);
-    if (wantLocalDomain) {
+    if (true || wantLocalDomain) {
     	printf("Local Domain MODE!\n");
 		int ip = getLocalAddress();
 		sprintf(DOMAIN_IP,"%d.%d.%d.%d", (ip & 0xFF), ((ip >> 8) & 0xFF),((ip >> 16) & 0xFF), ((ip >> 24) & 0xFF));

From 48a597a9b9f760f018f6ca14baba6863e4ed9b43 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Fri, 3 May 2013 19:29:25 -0700
Subject: [PATCH 14/30] added --wantVoxelPersist command line to server

---
 voxel-server/src/main.cpp | 35 +++++++++++++++++++++--------------
 1 file changed, 21 insertions(+), 14 deletions(-)

diff --git a/voxel-server/src/main.cpp b/voxel-server/src/main.cpp
index 678ef9ef00..84ea769fbc 100644
--- a/voxel-server/src/main.cpp
+++ b/voxel-server/src/main.cpp
@@ -43,7 +43,7 @@ int PACKETS_PER_CLIENT_PER_INTERVAL = 20;
 const int MAX_VOXEL_TREE_DEPTH_LEVELS = 4;
 
 VoxelTree randomTree;
-bool wantVoxelPersist = true;
+bool wantVoxelPersist = false;
 
 bool wantColorRandomizer = false;
 bool debugVoxelSending = false;
@@ -390,7 +390,10 @@ void attachVoxelAgentDataToAgent(Agent *newAgent) {
 
 void terminate (int sig) {
     printf("terminating now...\n");
-    if (false && ::wantVoxelPersist) {
+    
+    // This apparently does not work, because the randomTree has already been freed before this
+    // sig term handler runs... So, we need to find a better solution than this.
+    if (false) {
         _nodeCount=0;
         ::randomTree.recurseTreeWithOperation(countVoxelsOperation);
         printf("Nodes in scene before saving: %d nodes\n", _nodeCount);
@@ -409,16 +412,6 @@ int main(int argc, const char * argv[])
     signal(SIGTERM,&terminate);
     signal(SIGINT,&terminate);
     
-    // if we want Voxel Persistance, load the local file now...
-    if (::wantVoxelPersist) {
-        printf("loading voxels from file...\n");
-        ::randomTree.readFromFileV2("voxels.hio2",true);
-        printf("DONE loading voxels from file...\n");
-        _nodeCount=0;
-        ::randomTree.recurseTreeWithOperation(countVoxelsOperation);
-        printf("Nodes after loading scene %d nodes\n", _nodeCount);
-    }
-
     AgentList* agentList = AgentList::createInstance(AGENT_TYPE_VOXEL, VOXEL_LISTEN_PORT);
     setvbuf(stdout, NULL, _IOLBF, 0);
 
@@ -445,8 +438,22 @@ int main(int argc, const char * argv[])
     ::wantColorRandomizer = cmdOptionExists(argc, argv, WANT_COLOR_RANDOMIZER);
 	printf("wantColorRandomizer=%s\n", (::wantColorRandomizer ? "yes" : "no"));
 
-    // Check to see if the user passed in a command line option for loading a local
-	// Voxel File. If so, load it now.
+	const char* WANT_VOXEL_PERSIST = "--wantVoxelPersist";
+    ::wantVoxelPersist = cmdOptionExists(argc, argv, WANT_VOXEL_PERSIST);
+	printf("wantVoxelPersist=%s\n", (::wantVoxelPersist ? "yes" : "no"));
+
+    // if we want Voxel Persistance, load the local file now...
+    if (::wantVoxelPersist) {
+        printf("loading voxels from file...\n");
+        ::randomTree.readFromFileV2("voxels.hio2",true);
+        printf("DONE loading voxels from file...\n");
+        _nodeCount=0;
+        ::randomTree.recurseTreeWithOperation(countVoxelsOperation);
+        printf("Nodes after loading scene %d nodes\n", _nodeCount);
+    }
+
+    // Check to see if the user passed in a command line option for loading an old style local
+	// Voxel File. If so, load it now. This is not the same as a voxel persist file
 	const char* INPUT_FILE = "-i";
     const char* voxelsFilename = getCmdOption(argc, argv, INPUT_FILE);
     if (voxelsFilename) {

From 286c6e0e39c9d55da567eba0b4bd740d93488687 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Fri, 3 May 2013 19:36:30 -0700
Subject: [PATCH 15/30] fixed local domain

---
 voxel-server/src/main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/voxel-server/src/main.cpp b/voxel-server/src/main.cpp
index 84ea769fbc..8d6be3dd40 100644
--- a/voxel-server/src/main.cpp
+++ b/voxel-server/src/main.cpp
@@ -418,7 +418,7 @@ int main(int argc, const char * argv[])
     // Handle Local Domain testing with the --local command line
     const char* local = "--local";
     bool wantLocalDomain = cmdOptionExists(argc, argv,local);
-    if (true || wantLocalDomain) {
+    if (wantLocalDomain) {
     	printf("Local Domain MODE!\n");
 		int ip = getLocalAddress();
 		sprintf(DOMAIN_IP,"%d.%d.%d.%d", (ip & 0xFF), ((ip >> 8) & 0xFF),((ip >> 16) & 0xFF), ((ip >> 24) & 0xFF));

From 196752667571b6865fd951521d235ebd6a5932e4 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Fri, 3 May 2013 19:36:40 -0700
Subject: [PATCH 16/30] adding command options

---
 voxel-edit/src/main.cpp | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

diff --git a/voxel-edit/src/main.cpp b/voxel-edit/src/main.cpp
index 929b696650..7592de00f4 100644
--- a/voxel-edit/src/main.cpp
+++ b/voxel-edit/src/main.cpp
@@ -7,6 +7,7 @@
 //
 
 #include <VoxelTree.h>
+#include <SharedUtil.h>
 
 VoxelTree myTree;
 
@@ -115,8 +116,20 @@ void addScene(VoxelTree * tree) {
 
 int main(int argc, const char * argv[])
 {
-    addScene(&myTree);
-    myTree.writeToFileV2("voxels.hio2");
+	const char* SAY_HELLO = "--sayHello";
+    if (cmdOptionExists(argc, argv, SAY_HELLO)) {
+    	printf("I'm just saying hello...\n");
+	}
+
+	const char* DONT_CREATE_FILE = "--dontCreateSceneFile";
+    bool dontCreateFile = cmdOptionExists(argc, argv, DONT_CREATE_FILE);
     
+    if (dontCreateFile) {
+    	printf("You asked us not to create a scene file, so we will not.\n");
+	} else {
+    	printf("Creating Scene File...\n");
+        addScene(&myTree);
+        myTree.writeToFileV2("voxels.hio2");
+    }    
     return 0;
 }
\ No newline at end of file

From ff4e21e50490c0ef947db7b7c5d24b3a78f47efb Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Fri, 3 May 2013 20:12:46 -0700
Subject: [PATCH 17/30] Remaining pick bits.

---
 libraries/voxels/src/AABox.cpp       | 6 +++---
 libraries/voxels/src/ViewFrustum.cpp | 4 ++++
 libraries/voxels/src/ViewFrustum.h   | 1 +
 libraries/voxels/src/VoxelTree.cpp   | 2 +-
 4 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/libraries/voxels/src/AABox.cpp b/libraries/voxels/src/AABox.cpp
index d79c36882c..1d85b3181a 100755
--- a/libraries/voxels/src/AABox.cpp
+++ b/libraries/voxels/src/AABox.cpp
@@ -101,13 +101,13 @@ bool AABox::findRayIntersection(const glm::vec3& origin, const glm::vec3& direct
     }
     // check each direction
     float nt;
-    if (findIntersection(origin.x, direction.x, _corner.x, _size.x, &nt) &&
+    if (findIntersection(origin.x, direction.x, _corner.x, _size.x, &nt) && nt >= 0 &&
             isWithin(origin.y + nt*direction.y, _corner.y, _size.y) &&
             isWithin(origin.z + nt*direction.z, _corner.z, _size.z) ||
-        findIntersection(origin.y, direction.y, _corner.y, _size.y, &nt) &&
+        findIntersection(origin.y, direction.y, _corner.y, _size.y, &nt) && nt >= 0 &&
             isWithin(origin.x + nt*direction.x, _corner.x, _size.x) &&
             isWithin(origin.z + nt*direction.z, _corner.z, _size.z) ||
-        findIntersection(origin.z, direction.z, _corner.z, _size.z, &nt) &&
+        findIntersection(origin.z, direction.z, _corner.z, _size.z, &nt) && nt >= 0 &&
             isWithin(origin.y + nt*direction.y, _corner.y, _size.y) &&
             isWithin(origin.x + nt*direction.x, _corner.x, _size.x)) {
         *t = nt;
diff --git a/libraries/voxels/src/ViewFrustum.cpp b/libraries/voxels/src/ViewFrustum.cpp
index 8bdb2d97cb..4f725ff1b4 100644
--- a/libraries/voxels/src/ViewFrustum.cpp
+++ b/libraries/voxels/src/ViewFrustum.cpp
@@ -225,3 +225,7 @@ int ViewFrustum::boxInFrustum(const AABox& box) const {
 	return(result);
  }
 
+void ViewFrustum::computePickRay(float x, float y, glm::vec3* origin, glm::vec3* direction) const {
+    *origin = _nearTopLeft + x*(_nearTopRight - _nearTopLeft) + y*(_nearBottomLeft - _nearTopLeft);
+    *direction = glm::normalize(*origin - _position);
+}
diff --git a/libraries/voxels/src/ViewFrustum.h b/libraries/voxels/src/ViewFrustum.h
index d05bb9e1cf..feb1ecc8c6 100644
--- a/libraries/voxels/src/ViewFrustum.h
+++ b/libraries/voxels/src/ViewFrustum.h
@@ -98,6 +98,7 @@ public:
     int sphereInFrustum(const glm::vec3& center, float radius) const;
     int boxInFrustum(const AABox& box) const;
     
+    void computePickRay(float x, float y, glm::vec3* origin, glm::vec3* direction) const;
 };
 
 
diff --git a/libraries/voxels/src/VoxelTree.cpp b/libraries/voxels/src/VoxelTree.cpp
index a13675f00d..263c2f016e 100644
--- a/libraries/voxels/src/VoxelTree.cpp
+++ b/libraries/voxels/src/VoxelTree.cpp
@@ -577,7 +577,7 @@ bool findRayOperation(VoxelNode* node, void* extraData) {
 
 bool VoxelTree::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, VoxelNode** node, float* t)
 {
-    RayArgs args = { origin, direction, node, t };
+    RayArgs args = { origin / (float)TREE_SCALE, direction, node, t };
     recurseTreeWithOperation(findRayOperation, &args);
     return args.found;
 }

From 5253485261dc068d07915e48140e1ff72cf60545 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Sat, 4 May 2013 07:46:42 -0700
Subject: [PATCH 18/30] added TREE_SCALE to default camera farClip

---
 interface/src/Camera.cpp              | 3 ++-
 libraries/voxels/src/VoxelConstants.h | 2 ++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/interface/src/Camera.cpp b/interface/src/Camera.cpp
index 74195a8761..1a417c6fb1 100644
--- a/interface/src/Camera.cpp
+++ b/interface/src/Camera.cpp
@@ -6,6 +6,7 @@
 //---------------------------------------------------------------------
 
 #include <SharedUtil.h>
+#include <VoxelConstants.h>
 // #include "Log.h"
 
 #include "Camera.h"
@@ -16,7 +17,7 @@ Camera::Camera() {
 	_tightness		      = 10.0; // default
 	_fieldOfView          = 60.0; // default
 	_nearClip             = 0.08; // default
-	_farClip              = 50.0; // default
+	_farClip              = 50.0 * TREE_SCALE; // default
     _modeShift            = 0.0;
 	_yaw                  = 0.0;
 	_pitch			      = 0.0;
diff --git a/libraries/voxels/src/VoxelConstants.h b/libraries/voxels/src/VoxelConstants.h
index 8669ec7130..16bab45e4f 100644
--- a/libraries/voxels/src/VoxelConstants.h
+++ b/libraries/voxels/src/VoxelConstants.h
@@ -12,6 +12,8 @@
 #ifndef __hifi_VoxelConstants_h__
 #define __hifi_VoxelConstants_h__
 
+#include <limits.h>
+
 const int MAX_VOXEL_PACKET_SIZE = 1492;
 const int MAX_TREE_SLICE_BYTES = 26;
 const int TREE_SCALE = 10;

From 34565a4956c640f0edab7e6dd3f3eed9b6df271f Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Sat, 4 May 2013 07:56:30 -0700
Subject: [PATCH 19/30] Pointers to references for in/out parameters, renamed
 line parameter to more descriptive "distance."

---
 libraries/voxels/src/AABox.cpp     | 36 +++++++++++++++---------------
 libraries/voxels/src/AABox.h       |  2 +-
 libraries/voxels/src/VoxelTree.cpp | 18 +++++++--------
 libraries/voxels/src/VoxelTree.h   |  2 +-
 4 files changed, 29 insertions(+), 29 deletions(-)

diff --git a/libraries/voxels/src/AABox.cpp b/libraries/voxels/src/AABox.cpp
index 1d85b3181a..3c28401c66 100755
--- a/libraries/voxels/src/AABox.cpp
+++ b/libraries/voxels/src/AABox.cpp
@@ -80,37 +80,37 @@ bool AABox::contains(const glm::vec3& point) const {
         isWithin(point.z, _corner.z, _size.z);
 }
 
-// finds the intersection between the closer plane in one direction
-static bool findIntersection(float origin, float direction, float corner, float size, float* t) {
+// finds the intersection between a ray and the facing plane on one axis
+static bool findIntersection(float origin, float direction, float corner, float size, float& distance) {
     if (direction > EPSILON) {
-        *t = (corner - origin) / direction;
+        distance = (corner - origin) / direction;
         return true;
         
     } else if (direction < -EPSILON) {
-        *t = (corner + size - origin) / direction;
+        distance = (corner + size - origin) / direction;
         return true;
     }
     return false;
 }
 
-bool AABox::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float* t) const {
+bool AABox::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance) const {
     // handle the trivial case where the box contains the origin
     if (contains(origin)) {
-        *t = 0;
+        distance = 0;
         return true;
     }
-    // check each direction
-    float nt;
-    if (findIntersection(origin.x, direction.x, _corner.x, _size.x, &nt) && nt >= 0 &&
-            isWithin(origin.y + nt*direction.y, _corner.y, _size.y) &&
-            isWithin(origin.z + nt*direction.z, _corner.z, _size.z) ||
-        findIntersection(origin.y, direction.y, _corner.y, _size.y, &nt) && nt >= 0 &&
-            isWithin(origin.x + nt*direction.x, _corner.x, _size.x) &&
-            isWithin(origin.z + nt*direction.z, _corner.z, _size.z) ||
-        findIntersection(origin.z, direction.z, _corner.z, _size.z, &nt) && nt >= 0 &&
-            isWithin(origin.y + nt*direction.y, _corner.y, _size.y) &&
-            isWithin(origin.x + nt*direction.x, _corner.x, _size.x)) {
-        *t = nt;
+    // check each axis
+    float axisDistance;
+    if (findIntersection(origin.x, direction.x, _corner.x, _size.x, axisDistance) && axisDistance >= 0 &&
+            isWithin(origin.y + axisDistance*direction.y, _corner.y, _size.y) &&
+            isWithin(origin.z + axisDistance*direction.z, _corner.z, _size.z) ||
+        findIntersection(origin.y, direction.y, _corner.y, _size.y, axisDistance) && axisDistance >= 0 &&
+            isWithin(origin.x + axisDistance*direction.x, _corner.x, _size.x) &&
+            isWithin(origin.z + axisDistance*direction.z, _corner.z, _size.z) ||
+        findIntersection(origin.z, direction.z, _corner.z, _size.z, axisDistance) && axisDistance >= 0 &&
+            isWithin(origin.y + axisDistance*direction.y, _corner.y, _size.y) &&
+            isWithin(origin.x + axisDistance*direction.x, _corner.x, _size.x)) {
+        distance = axisDistance;
         return true;
     }
     return false;
diff --git a/libraries/voxels/src/AABox.h b/libraries/voxels/src/AABox.h
index 0dae354860..0184355de2 100755
--- a/libraries/voxels/src/AABox.h
+++ b/libraries/voxels/src/AABox.h
@@ -36,7 +36,7 @@ public:
 	const glm::vec3& getSize() const { return _size; };
 
     bool contains(const glm::vec3& point) const;
-    bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float* t) const;
+    bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance) const;
 
 private:
 	glm::vec3 _corner;
diff --git a/libraries/voxels/src/VoxelTree.cpp b/libraries/voxels/src/VoxelTree.cpp
index 263c2f016e..23027de420 100644
--- a/libraries/voxels/src/VoxelTree.cpp
+++ b/libraries/voxels/src/VoxelTree.cpp
@@ -551,8 +551,8 @@ class RayArgs {
 public:
     glm::vec3 origin;
     glm::vec3 direction;
-    VoxelNode** node;
-    float* t;
+    VoxelNode*& node;
+    float& distance;
     bool found;
 };
 
@@ -560,24 +560,24 @@ bool findRayOperation(VoxelNode* node, void* extraData) {
     RayArgs* args = static_cast<RayArgs*>(extraData);
     AABox box;
     node->getAABox(box);
-    float t;
-    if (!box.findRayIntersection(args->origin, args->direction, &t)) {
+    float distance;
+    if (!box.findRayIntersection(args->origin, args->direction, distance)) {
         return false;
     }
     if (!node->isLeaf()) {
         return true; // recurse on children
     }
-    if (!args->found || t < *(args->t)) {
-        *(args->node) = node;
-        *(args->t) = t;
+    if (!args->found || distance < args->distance) {
+        args->node = node;
+        args->distance = distance;
         args->found = true;
     }
     return false;
 }
 
-bool VoxelTree::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, VoxelNode** node, float* t)
+bool VoxelTree::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, VoxelNode*& node, float& distance)
 {
-    RayArgs args = { origin / (float)TREE_SCALE, direction, node, t };
+    RayArgs args = { origin / (float)TREE_SCALE, direction, node, distance };
     recurseTreeWithOperation(findRayOperation, &args);
     return args.found;
 }
diff --git a/libraries/voxels/src/VoxelTree.h b/libraries/voxels/src/VoxelTree.h
index e0346ebdb5..221a04138b 100644
--- a/libraries/voxels/src/VoxelTree.h
+++ b/libraries/voxels/src/VoxelTree.h
@@ -62,7 +62,7 @@ public:
     void clearDirtyBit() { _isDirty = false; };
     unsigned long int getNodesChangedFromBitstream() const { return _nodesChangedFromBitstream; };
 
-    bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, VoxelNode** node, float* t);
+    bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, VoxelNode*& node, float& distance);
     
 private:
     int encodeTreeBitstreamRecursion(int maxEncodeLevel, int& currentEncodeLevel,

From aff465b17bef372f877275aa82561fb4ac0df841 Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Sat, 4 May 2013 07:59:45 -0700
Subject: [PATCH 20/30] Missed a spot with the conversion from pointers to
 references.

---
 libraries/voxels/src/ViewFrustum.cpp | 6 +++---
 libraries/voxels/src/ViewFrustum.h   | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/voxels/src/ViewFrustum.cpp b/libraries/voxels/src/ViewFrustum.cpp
index 4f725ff1b4..999c1c3efd 100644
--- a/libraries/voxels/src/ViewFrustum.cpp
+++ b/libraries/voxels/src/ViewFrustum.cpp
@@ -225,7 +225,7 @@ int ViewFrustum::boxInFrustum(const AABox& box) const {
 	return(result);
  }
 
-void ViewFrustum::computePickRay(float x, float y, glm::vec3* origin, glm::vec3* direction) const {
-    *origin = _nearTopLeft + x*(_nearTopRight - _nearTopLeft) + y*(_nearBottomLeft - _nearTopLeft);
-    *direction = glm::normalize(*origin - _position);
+void ViewFrustum::computePickRay(float x, float y, glm::vec3& origin, glm::vec3& direction) const {
+    origin = _nearTopLeft + x*(_nearTopRight - _nearTopLeft) + y*(_nearBottomLeft - _nearTopLeft);
+    direction = glm::normalize(origin - _position);
 }
diff --git a/libraries/voxels/src/ViewFrustum.h b/libraries/voxels/src/ViewFrustum.h
index feb1ecc8c6..291697f2b9 100644
--- a/libraries/voxels/src/ViewFrustum.h
+++ b/libraries/voxels/src/ViewFrustum.h
@@ -98,7 +98,7 @@ public:
     int sphereInFrustum(const glm::vec3& center, float radius) const;
     int boxInFrustum(const AABox& box) const;
     
-    void computePickRay(float x, float y, glm::vec3* origin, glm::vec3* direction) const;
+    void computePickRay(float x, float y, glm::vec3& origin, glm::vec3& direction) const;
 };
 
 

From 7d1e271c39c4c99b0cc1707bbfd10ae4e246c135 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Sat, 4 May 2013 08:23:06 -0700
Subject: [PATCH 21/30] fix bug in bogus avatar data file

---
 interface/src/Avatar.cpp | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/interface/src/Avatar.cpp b/interface/src/Avatar.cpp
index 675d4ce1c0..3cf38f1527 100644
--- a/interface/src/Avatar.cpp
+++ b/interface/src/Avatar.cpp
@@ -1556,6 +1556,15 @@ void Avatar::readAvatarDataFromFile() {
     FILE* avatarFile = fopen(AVATAR_DATA_FILENAME, "r");
     
     if (avatarFile) {
-        fscanf(avatarFile, "%f,%f,%f %f", &_position.x, &_position.y, &_position.z, &_bodyYaw);
+        glm::vec3 readPosition;
+        float readYaw;
+        fscanf(avatarFile, "%f,%f,%f %f", &readPosition.x, &readPosition.y, &readPosition.z, &readYaw);
+
+        // make sure these values are sane
+        if (!isnan(readPosition.x) && !isnan(readPosition.y) && !isnan(readPosition.z) && !isnan(readYaw)) {
+            _position = readPosition;
+            _bodyYaw = readYaw;
+        }
+        fclose(avatarFile);
     }
 }

From 3ed19ccb91a5f4b36b6d308a64fbacdc878b9665 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Sat, 4 May 2013 08:28:00 -0700
Subject: [PATCH 22/30] fixed comment

---
 libraries/voxels/src/VoxelTree.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/voxels/src/VoxelTree.h b/libraries/voxels/src/VoxelTree.h
index 440345e119..3eb53309a5 100644
--- a/libraries/voxels/src/VoxelTree.h
+++ b/libraries/voxels/src/VoxelTree.h
@@ -65,7 +65,7 @@ public:
     // Note: this assumes the fileFormat is the HIO individual voxels code files
 	void loadVoxelsFile(const char* fileName, bool wantColorRandomizer);
 
-    // these will read/write files that match the wireformat, including the 'V' leading
+    // these will read/write files that match the wireformat, excluding the 'V' leading
     void writeToFileV2(const char* filename) const;
     void readFromFileV2(const char* filename, bool reset);
     

From c1847a75118bb635297fee22b7d42206bc7173eb Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Sat, 4 May 2013 09:19:46 -0700
Subject: [PATCH 23/30] set dirty bit on tree in a couple new places

---
 libraries/voxels/src/VoxelTree.cpp | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/libraries/voxels/src/VoxelTree.cpp b/libraries/voxels/src/VoxelTree.cpp
index 7a1fa48fa4..05473ef711 100644
--- a/libraries/voxels/src/VoxelTree.cpp
+++ b/libraries/voxels/src/VoxelTree.cpp
@@ -262,10 +262,6 @@ void VoxelTree::deleteVoxelCodeFromTree(unsigned char *codeBuffer) {
     int lengthInBytes = bytesRequiredForCodeLength(*codeBuffer); // includes octet count, not color!
 
     if (0 == memcmp(nodeToDelete->octalCode,codeBuffer,lengthInBytes)) {
-
-        float* vertices = firstVertexForCode(nodeToDelete->octalCode);
-        delete[] vertices;
-
         if (parentNode) {
             int childIndex = branchIndexWithDescendant(parentNode->octalCode, codeBuffer);
 
@@ -273,6 +269,7 @@ void VoxelTree::deleteVoxelCodeFromTree(unsigned char *codeBuffer) {
             parentNode->children[childIndex] = NULL; // set it to NULL
 
             reaverageVoxelColors(rootNode); // Fix our colors!! Need to call it on rootNode
+            _isDirty = true;
         }
     }
 }
@@ -283,6 +280,7 @@ void VoxelTree::eraseAllVoxels() {
     rootNode = new VoxelNode();
     rootNode->octalCode = new unsigned char[1];
     *rootNode->octalCode = 0;
+    _isDirty = true;
 }
 
 void VoxelTree::readCodeColorBufferToTree(unsigned char *codeColorBuffer) {
@@ -291,6 +289,7 @@ void VoxelTree::readCodeColorBufferToTree(unsigned char *codeColorBuffer) {
     // create the node if it does not exist
     if (*lastCreatedNode->octalCode != *codeColorBuffer) {
         lastCreatedNode = createMissingNode(lastCreatedNode, codeColorBuffer);
+        _isDirty = true;
     }
 
     // give this node its color
@@ -300,6 +299,9 @@ void VoxelTree::readCodeColorBufferToTree(unsigned char *codeColorBuffer) {
     memcpy(newColor, codeColorBuffer + octalCodeBytes, 3);
     newColor[3] = 1;
     lastCreatedNode->setColor(newColor);
+    if (lastCreatedNode->isDirty()) {
+        _isDirty = true;
+    }
 }
 
 void VoxelTree::processRemoveVoxelBitstream(unsigned char * bitstream, int bufferSizeBytes) {

From 89eefe461dce44671cce6af1d318a68b478f628e Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Sat, 4 May 2013 09:20:22 -0700
Subject: [PATCH 24/30] persist voxels in main loop

---
 voxel-server/src/main.cpp | 28 +++++++++++++++-------------
 1 file changed, 15 insertions(+), 13 deletions(-)

diff --git a/voxel-server/src/main.cpp b/voxel-server/src/main.cpp
index 8d6be3dd40..e912852fa0 100644
--- a/voxel-server/src/main.cpp
+++ b/voxel-server/src/main.cpp
@@ -338,6 +338,16 @@ void voxelDistributor(AgentList* agentList, AgentList::iterator& agent, VoxelAge
     }
 }
 
+void persistVoxelsWhenDirty() {
+    // check the dirty bit and persist here...
+    if (::wantVoxelPersist && ::randomTree.isDirty()) {
+        printf("saving voxels to file...\n");
+        randomTree.writeToFileV2("voxels.hio2");
+        randomTree.clearDirtyBit(); // tree is clean after saving
+        printf("DONE saving voxels to file...\n");
+    }
+}
+
 void *distributeVoxelsToListeners(void *args) {
     
     AgentList* agentList = AgentList::getInstance();
@@ -390,18 +400,6 @@ void attachVoxelAgentDataToAgent(Agent *newAgent) {
 
 void terminate (int sig) {
     printf("terminating now...\n");
-    
-    // This apparently does not work, because the randomTree has already been freed before this
-    // sig term handler runs... So, we need to find a better solution than this.
-    if (false) {
-        _nodeCount=0;
-        ::randomTree.recurseTreeWithOperation(countVoxelsOperation);
-        printf("Nodes in scene before saving: %d nodes\n", _nodeCount);
-
-        printf("saving voxels to file...\n");
-        randomTree.writeToFileV2("voxels.hio2");
-        printf("DONE saving voxels to file...\n");
-    }
     exit(EXIT_SUCCESS);
 }
 
@@ -446,6 +444,7 @@ int main(int argc, const char * argv[])
     if (::wantVoxelPersist) {
         printf("loading voxels from file...\n");
         ::randomTree.readFromFileV2("voxels.hio2",true);
+        ::randomTree.clearDirtyBit(); // the tree is clean since we just loaded it
         printf("DONE loading voxels from file...\n");
         _nodeCount=0;
         ::randomTree.recurseTreeWithOperation(countVoxelsOperation);
@@ -493,7 +492,7 @@ int main(int argc, const char * argv[])
     
     pthread_t sendVoxelThread;
     pthread_create(&sendVoxelThread, NULL, distributeVoxelsToListeners, NULL);
-    
+
     sockaddr agentPublicAddress;
     
     unsigned char *packetData = new unsigned char[MAX_PACKET_SIZE];
@@ -501,6 +500,9 @@ int main(int argc, const char * argv[])
 
     // loop to send to agents requesting data
     while (true) {
+        // check to see if we need to persist our voxel state
+        persistVoxelsWhenDirty();    
+    
         if (agentList->getAgentSocket().receive(&agentPublicAddress, packetData, &receivedBytes)) {
         	// XXXBHG: Hacked in support for 'S' SET command
             if (packetData[0] == PACKET_HEADER_SET_VOXEL) {

From 6a32424fb2a8435ed848aaf1ca66e3e100e5af46 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Sat, 4 May 2013 09:41:10 -0700
Subject: [PATCH 25/30] make readFromFileV2() return bool for file exists

---
 libraries/voxels/src/VoxelTree.cpp | 4 +++-
 libraries/voxels/src/VoxelTree.h   | 2 +-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/libraries/voxels/src/VoxelTree.cpp b/libraries/voxels/src/VoxelTree.cpp
index 05473ef711..26803272d7 100644
--- a/libraries/voxels/src/VoxelTree.cpp
+++ b/libraries/voxels/src/VoxelTree.cpp
@@ -865,7 +865,7 @@ int VoxelTree::encodeTreeBitstreamRecursion(int maxEncodeLevel, int& currentEnco
     return bytesAtThisLevel;
 }
 
-void VoxelTree::readFromFileV2(const char* fileName, bool reset) {
+bool VoxelTree::readFromFileV2(const char* fileName) {
     std::ifstream file(fileName, std::ios::in|std::ios::binary|std::ios::ate);
     if(file.is_open()) {
 		printLog("loading file...\n");
@@ -881,7 +881,9 @@ void VoxelTree::readFromFileV2(const char* fileName, bool reset) {
         delete[] entireFile;
     		
         file.close();
+        return true;
     }
+    return false;
 }
 
 void VoxelTree::writeToFileV2(const char* fileName) const {
diff --git a/libraries/voxels/src/VoxelTree.h b/libraries/voxels/src/VoxelTree.h
index 3eb53309a5..7bd7ed5125 100644
--- a/libraries/voxels/src/VoxelTree.h
+++ b/libraries/voxels/src/VoxelTree.h
@@ -67,7 +67,7 @@ public:
 
     // these will read/write files that match the wireformat, excluding the 'V' leading
     void writeToFileV2(const char* filename) const;
-    void readFromFileV2(const char* filename, bool reset);
+    bool readFromFileV2(const char* filename);
     
 private:
     int encodeTreeBitstreamRecursion(int maxEncodeLevel, int& currentEncodeLevel,

From eb56810ef2015bb37729cc064ffc92b700bfcd3a Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Sat, 4 May 2013 09:41:45 -0700
Subject: [PATCH 26/30] make default server behavior be voxel persistance

---
 voxel-server/src/main.cpp | 66 +++++++++++++--------------------------
 1 file changed, 21 insertions(+), 45 deletions(-)

diff --git a/voxel-server/src/main.cpp b/voxel-server/src/main.cpp
index e912852fa0..2d7288614d 100644
--- a/voxel-server/src/main.cpp
+++ b/voxel-server/src/main.cpp
@@ -43,7 +43,7 @@ int PACKETS_PER_CLIENT_PER_INTERVAL = 20;
 const int MAX_VOXEL_TREE_DEPTH_LEVELS = 4;
 
 VoxelTree randomTree;
-bool wantVoxelPersist = false;
+bool wantVoxelPersist = true;
 
 bool wantColorRandomizer = false;
 bool debugVoxelSending = false;
@@ -81,49 +81,9 @@ void addSphereScene(VoxelTree * tree, bool wantColorRandomizer) {
     float voxelSize = 1.f/32;
     printf("creating corner points...\n");
     tree->createVoxel(0              , 0              , 0              , voxelSize, 255, 255 ,255);
-
-    if (tree->getVoxelAt(0, 0, 0, voxelSize)) {
-        printf("corner point 0,0,0 exists...\n");
-    }
-
-    tree->deleteVoxelAt(0, 0, 0, voxelSize);
-    printf("attempting to delete corner point 0,0,0\n");
-
-    if (tree->getVoxelAt(0, 0, 0, voxelSize)) {
-        printf("corner point 0,0,0 exists...\n");
-    } else {
-        printf("corner point 0,0,0 does not exists...\n");
-    }
-
-    printf("creating corner points...\n");
-    tree->createVoxel(0              , 0              , 0              , voxelSize, 255, 255 ,255);
-    
-    printf("saving file voxels.hio2...\n");
-    tree->writeToFileV2("voxels.hio2");
-    printf("erasing all voxels...\n");
-    tree->eraseAllVoxels();
-
-    if (tree->getVoxelAt(0, 0, 0, voxelSize)) {
-        printf("corner point 0,0,0 exists...\n");
-    } else {
-        printf("corner point 0,0,0 does not exists...\n");
-    }
-
-    printf("loading file voxels.hio2...\n");
-    tree->readFromFileV2("voxels.hio2",true);
-
-    if (tree->getVoxelAt(0, 0, 0, voxelSize)) {
-        printf("corner point 0,0,0 exists...\n");
-    } else {
-        printf("corner point 0,0,0 does not exists...\n");
-    }
-
-
     tree->createVoxel(1.0 - voxelSize, 0              , 0              , voxelSize, 255, 0   ,0  );
     tree->createVoxel(0              , 1.0 - voxelSize, 0              , voxelSize, 0  , 255 ,0  );
     tree->createVoxel(0              , 0              , 1.0 - voxelSize, voxelSize, 0  , 0   ,255);
-
-
     tree->createVoxel(1.0 - voxelSize, 0              , 1.0 - voxelSize, voxelSize, 255, 0   ,255);
     tree->createVoxel(0              , 1.0 - voxelSize, 1.0 - voxelSize, voxelSize, 0  , 255 ,255);
     tree->createVoxel(1.0 - voxelSize, 1.0 - voxelSize, 0              , voxelSize, 255, 255 ,0  );
@@ -436,14 +396,18 @@ int main(int argc, const char * argv[])
     ::wantColorRandomizer = cmdOptionExists(argc, argv, WANT_COLOR_RANDOMIZER);
 	printf("wantColorRandomizer=%s\n", (::wantColorRandomizer ? "yes" : "no"));
 
-	const char* WANT_VOXEL_PERSIST = "--wantVoxelPersist";
-    ::wantVoxelPersist = cmdOptionExists(argc, argv, WANT_VOXEL_PERSIST);
+    // By default we will voxel persist, if you want to disable this, then pass in this parameter
+	const char* NO_VOXEL_PERSIST = "--NoVoxelPersist";
+    if (cmdOptionExists(argc, argv, NO_VOXEL_PERSIST)) {
+        ::wantVoxelPersist = false;
+    }
 	printf("wantVoxelPersist=%s\n", (::wantVoxelPersist ? "yes" : "no"));
 
     // if we want Voxel Persistance, load the local file now...
+    bool persistantFileRead = false;
     if (::wantVoxelPersist) {
         printf("loading voxels from file...\n");
-        ::randomTree.readFromFileV2("voxels.hio2",true);
+        persistantFileRead = ::randomTree.readFromFileV2("voxels.hio2");
         ::randomTree.clearDirtyBit(); // the tree is clean since we just loaded it
         printf("DONE loading voxels from file...\n");
         _nodeCount=0;
@@ -485,8 +449,20 @@ int main(int argc, const char * argv[])
 		addSphere(&randomTree,true,wantColorRandomizer);
     }
 
+	const char* ADD_SCENE = "--AddScene";
+    bool addScene = cmdOptionExists(argc, argv, ADD_SCENE);
 	const char* NO_ADD_SCENE = "--NoAddScene";
-	if (!cmdOptionExists(argc, argv, NO_ADD_SCENE)) {
+    bool noAddScene = cmdOptionExists(argc, argv, NO_ADD_SCENE);
+    if (addScene && noAddScene) {
+        printf("WARNING! --AddScene and --NoAddScene are mutually exclusive. We will honor --NoAddScene\n");
+    }
+
+    // We will add a scene if...
+    //      1) we attempted to load a persistant file and it wasn't there
+    //      2) you asked us to add a scene
+    // HOWEVER -- we will NEVER add a scene if you explicitly tell us not to!
+    bool actuallyAddScene = !noAddScene && (addScene || (::wantVoxelPersist && !persistantFileRead));
+	if (actuallyAddScene) {
 		addSphereScene(&randomTree,wantColorRandomizer);
     }
     

From 17fbc2347bd61b222e54c3bcdfb4ffd6323360ad Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Sat, 4 May 2013 09:46:03 -0700
Subject: [PATCH 27/30] removed signal handlers, since we weren't using them
 and they were segfaulting

---
 voxel-server/src/main.cpp | 10 ----------
 1 file changed, 10 deletions(-)

diff --git a/voxel-server/src/main.cpp b/voxel-server/src/main.cpp
index 2d7288614d..6eda2b0dbb 100644
--- a/voxel-server/src/main.cpp
+++ b/voxel-server/src/main.cpp
@@ -358,18 +358,8 @@ void attachVoxelAgentDataToAgent(Agent *newAgent) {
     }
 }
 
-void terminate (int sig) {
-    printf("terminating now...\n");
-    exit(EXIT_SUCCESS);
-}
-
-
 int main(int argc, const char * argv[])
 {
-    signal(SIGABRT,&terminate);
-    signal(SIGTERM,&terminate);
-    signal(SIGINT,&terminate);
-    
     AgentList* agentList = AgentList::createInstance(AGENT_TYPE_VOXEL, VOXEL_LISTEN_PORT);
     setvbuf(stdout, NULL, _IOLBF, 0);
 

From 0a488e358588a0848a628a79e9f86b25bb42ad9d Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Sat, 4 May 2013 09:48:11 -0700
Subject: [PATCH 28/30] whitespace fixes

---
 voxel-server/src/main.cpp | 86 +++++++++++++++++++--------------------
 1 file changed, 43 insertions(+), 43 deletions(-)

diff --git a/voxel-server/src/main.cpp b/voxel-server/src/main.cpp
index 6eda2b0dbb..eec5bb308a 100644
--- a/voxel-server/src/main.cpp
+++ b/voxel-server/src/main.cpp
@@ -367,9 +367,9 @@ int main(int argc, const char * argv[])
     const char* local = "--local";
     bool wantLocalDomain = cmdOptionExists(argc, argv,local);
     if (wantLocalDomain) {
-    	printf("Local Domain MODE!\n");
-		int ip = getLocalAddress();
-		sprintf(DOMAIN_IP,"%d.%d.%d.%d", (ip & 0xFF), ((ip >> 8) & 0xFF),((ip >> 16) & 0xFF), ((ip >> 24) & 0xFF));
+        printf("Local Domain MODE!\n");
+        int ip = getLocalAddress();
+        sprintf(DOMAIN_IP,"%d.%d.%d.%d", (ip & 0xFF), ((ip >> 8) & 0xFF),((ip >> 16) & 0xFF), ((ip >> 24) & 0xFF));
     }
 
     agentList->linkedDataCreateCallback = &attachVoxelAgentDataToAgent;
@@ -378,20 +378,20 @@ int main(int argc, const char * argv[])
     
     srand((unsigned)time(0));
 
-	const char* DEBUG_VOXEL_SENDING = "--debugVoxelSending";
+    const char* DEBUG_VOXEL_SENDING = "--debugVoxelSending";
     ::debugVoxelSending = cmdOptionExists(argc, argv, DEBUG_VOXEL_SENDING);
-	printf("debugVoxelSending=%s\n", (::debugVoxelSending ? "yes" : "no"));
-    
-	const char* WANT_COLOR_RANDOMIZER = "--wantColorRandomizer";
+    printf("debugVoxelSending=%s\n", (::debugVoxelSending ? "yes" : "no"));
+
+    const char* WANT_COLOR_RANDOMIZER = "--wantColorRandomizer";
     ::wantColorRandomizer = cmdOptionExists(argc, argv, WANT_COLOR_RANDOMIZER);
-	printf("wantColorRandomizer=%s\n", (::wantColorRandomizer ? "yes" : "no"));
+    printf("wantColorRandomizer=%s\n", (::wantColorRandomizer ? "yes" : "no"));
 
     // By default we will voxel persist, if you want to disable this, then pass in this parameter
-	const char* NO_VOXEL_PERSIST = "--NoVoxelPersist";
+    const char* NO_VOXEL_PERSIST = "--NoVoxelPersist";
     if (cmdOptionExists(argc, argv, NO_VOXEL_PERSIST)) {
         ::wantVoxelPersist = false;
     }
-	printf("wantVoxelPersist=%s\n", (::wantVoxelPersist ? "yes" : "no"));
+    printf("wantVoxelPersist=%s\n", (::wantVoxelPersist ? "yes" : "no"));
 
     // if we want Voxel Persistance, load the local file now...
     bool persistantFileRead = false;
@@ -406,42 +406,42 @@ int main(int argc, const char * argv[])
     }
 
     // Check to see if the user passed in a command line option for loading an old style local
-	// Voxel File. If so, load it now. This is not the same as a voxel persist file
-	const char* INPUT_FILE = "-i";
+    // Voxel File. If so, load it now. This is not the same as a voxel persist file
+    const char* INPUT_FILE = "-i";
     const char* voxelsFilename = getCmdOption(argc, argv, INPUT_FILE);
     if (voxelsFilename) {
-	    randomTree.loadVoxelsFile(voxelsFilename,wantColorRandomizer);
-	}
-
-    // Check to see if the user passed in a command line option for setting packet send rate
-	const char* PACKETS_PER_SECOND = "--packetsPerSecond";
-    const char* packetsPerSecond = getCmdOption(argc, argv, PACKETS_PER_SECOND);
-    if (packetsPerSecond) {
-	    PACKETS_PER_CLIENT_PER_INTERVAL = atoi(packetsPerSecond)/10;
-	    if (PACKETS_PER_CLIENT_PER_INTERVAL < 1) {
-	        PACKETS_PER_CLIENT_PER_INTERVAL = 1;
-	    }
-    	printf("packetsPerSecond=%s PACKETS_PER_CLIENT_PER_INTERVAL=%d\n", packetsPerSecond, PACKETS_PER_CLIENT_PER_INTERVAL);
-	}
-    
-	const char* ADD_RANDOM_VOXELS = "--AddRandomVoxels";
-	if (cmdOptionExists(argc, argv, ADD_RANDOM_VOXELS)) {
-		// create an octal code buffer and load it with 0 so that the recursive tree fill can give
-		// octal codes to the tree nodes that it is creating
-	    randomlyFillVoxelTree(MAX_VOXEL_TREE_DEPTH_LEVELS, randomTree.rootNode);
-	}
-	
-	const char* ADD_SPHERE = "--AddSphere";
-	const char* ADD_RANDOM_SPHERE = "--AddRandomSphere";
-	if (cmdOptionExists(argc, argv, ADD_SPHERE)) {
-		addSphere(&randomTree,false,wantColorRandomizer);
-    } else if (cmdOptionExists(argc, argv, ADD_RANDOM_SPHERE)) {
-		addSphere(&randomTree,true,wantColorRandomizer);
+        randomTree.loadVoxelsFile(voxelsFilename,wantColorRandomizer);
     }
 
-	const char* ADD_SCENE = "--AddScene";
+    // Check to see if the user passed in a command line option for setting packet send rate
+    const char* PACKETS_PER_SECOND = "--packetsPerSecond";
+    const char* packetsPerSecond = getCmdOption(argc, argv, PACKETS_PER_SECOND);
+    if (packetsPerSecond) {
+        PACKETS_PER_CLIENT_PER_INTERVAL = atoi(packetsPerSecond)/10;
+        if (PACKETS_PER_CLIENT_PER_INTERVAL < 1) {
+            PACKETS_PER_CLIENT_PER_INTERVAL = 1;
+        }
+        printf("packetsPerSecond=%s PACKETS_PER_CLIENT_PER_INTERVAL=%d\n", packetsPerSecond, PACKETS_PER_CLIENT_PER_INTERVAL);
+    }
+    
+    const char* ADD_RANDOM_VOXELS = "--AddRandomVoxels";
+    if (cmdOptionExists(argc, argv, ADD_RANDOM_VOXELS)) {
+        // create an octal code buffer and load it with 0 so that the recursive tree fill can give
+        // octal codes to the tree nodes that it is creating
+        randomlyFillVoxelTree(MAX_VOXEL_TREE_DEPTH_LEVELS, randomTree.rootNode);
+    }
+
+    const char* ADD_SPHERE = "--AddSphere";
+    const char* ADD_RANDOM_SPHERE = "--AddRandomSphere";
+    if (cmdOptionExists(argc, argv, ADD_SPHERE)) {
+        addSphere(&randomTree,false,wantColorRandomizer);
+    } else if (cmdOptionExists(argc, argv, ADD_RANDOM_SPHERE)) {
+        addSphere(&randomTree,true,wantColorRandomizer);
+    }
+
+    const char* ADD_SCENE = "--AddScene";
     bool addScene = cmdOptionExists(argc, argv, ADD_SCENE);
-	const char* NO_ADD_SCENE = "--NoAddScene";
+    const char* NO_ADD_SCENE = "--NoAddScene";
     bool noAddScene = cmdOptionExists(argc, argv, NO_ADD_SCENE);
     if (addScene && noAddScene) {
         printf("WARNING! --AddScene and --NoAddScene are mutually exclusive. We will honor --NoAddScene\n");
@@ -452,8 +452,8 @@ int main(int argc, const char * argv[])
     //      2) you asked us to add a scene
     // HOWEVER -- we will NEVER add a scene if you explicitly tell us not to!
     bool actuallyAddScene = !noAddScene && (addScene || (::wantVoxelPersist && !persistantFileRead));
-	if (actuallyAddScene) {
-		addSphereScene(&randomTree,wantColorRandomizer);
+    if (actuallyAddScene) {
+        addSphereScene(&randomTree,wantColorRandomizer);
     }
     
     pthread_t sendVoxelThread;

From 34982227e49e16fd8e7457170f9dbe1e4c59e7a9 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Sat, 4 May 2013 21:58:16 -0700
Subject: [PATCH 29/30] removed color reaveraging from readNodeData() because
 server will already send averages

---
 libraries/voxels/src/VoxelTree.cpp | 10 ----------
 1 file changed, 10 deletions(-)

diff --git a/libraries/voxels/src/VoxelTree.cpp b/libraries/voxels/src/VoxelTree.cpp
index 26803272d7..fee0c698bb 100644
--- a/libraries/voxels/src/VoxelTree.cpp
+++ b/libraries/voxels/src/VoxelTree.cpp
@@ -157,16 +157,6 @@ int VoxelTree::readNodeData(VoxelNode* destinationNode,
             bytesRead += 3;
         }
     }
-    // average node's color based on color of children
-    bool nodeWasDirty = destinationNode->isDirty();
-    destinationNode->setColorFromAverageOfChildren();
-    bool nodeIsDirty = destinationNode->isDirty();
-    if (nodeIsDirty) {
-        _isDirty = true;
-    }
-    if (!nodeWasDirty && nodeIsDirty) {
-        _nodesChangedFromBitstream++;
-    }
 
     // give this destination node the child mask from the packet
     unsigned char childMask = *(nodeData + bytesRead);

From 37f1360542e28ff309f2f819e4b3035f3eed345d Mon Sep 17 00:00:00 2001
From: Stephen Birarda <commit@birarda.com>
Date: Mon, 6 May 2013 10:39:36 -0700
Subject: [PATCH 30/30] fix spacing for gravity vector

---
 interface/src/SerialInterface.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/interface/src/SerialInterface.cpp b/interface/src/SerialInterface.cpp
index 44f256cd01..5878ab672e 100644
--- a/interface/src/SerialInterface.cpp
+++ b/interface/src/SerialInterface.cpp
@@ -287,7 +287,7 @@ void SerialInterface::resetSerial() {
     gettimeofday(&lastGoodRead, NULL);
     
     if (!USING_INVENSENSE_MPU9150) {
-        gravity = glm::vec3(0,-1,0);
+        gravity = glm::vec3(0, -1, 0);
         
         //  Clear the measured and average channel data
         for (int i = 0; i < NUM_CHANNELS; i++) {