From b2b67d2b3dac6f20dbd079606520874677220559 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Wed, 24 Jul 2013 01:18:54 -0700
Subject: [PATCH 01/27] split multiple avatars into multiple packets if needed

---
 avatar-mixer/src/main.cpp | 62 ++++++++++++++++++++++++++++-----------
 1 file changed, 45 insertions(+), 17 deletions(-)

diff --git a/avatar-mixer/src/main.cpp b/avatar-mixer/src/main.cpp
index f8bc36f6e6..b2e28fe484 100644
--- a/avatar-mixer/src/main.cpp
+++ b/avatar-mixer/src/main.cpp
@@ -36,7 +36,7 @@
 
 const int AVATAR_LISTEN_PORT = 55444;
 
-unsigned char *addNodeToBroadcastPacket(unsigned char *currentPosition, Node *nodeToAdd) {
+unsigned char* addNodeToBroadcastPacket(unsigned char *currentPosition, Node *nodeToAdd) {
     currentPosition += packNodeId(currentPosition, nodeToAdd->getNodeID());
 
     AvatarData *nodeData = (AvatarData *)nodeToAdd->getLinkedData();
@@ -51,6 +51,47 @@ void attachAvatarDataToNode(Node* newNode) {
     }
 }
 
+unsigned char broadcastPacketBuffer[MAX_PACKET_SIZE];
+unsigned char avatarDataBuffer[MAX_PACKET_SIZE];
+void broadcastAvatarData(NodeList* nodeList, sockaddr* nodeAddress) {
+    unsigned char* broadcastPacket = (unsigned char*)&::broadcastPacketBuffer[0];
+    int numHeaderBytes = populateTypeAndVersion(broadcastPacket, PACKET_TYPE_BULK_AVATAR_DATA);
+    unsigned char* currentBufferPosition = NULL;
+    currentBufferPosition = broadcastPacket + numHeaderBytes;
+    int packetLength = currentBufferPosition - broadcastPacket;
+    int packetsSent = 0;
+
+    // send back a packet with other active node data to this node
+    for (NodeList::iterator node = nodeList->begin(); node != nodeList->end(); node++) {
+        if (node->getLinkedData() && !socketMatch(nodeAddress, node->getActiveSocket())) {
+            unsigned char* avatarDataEndpoint = addNodeToBroadcastPacket((unsigned char*)&avatarDataBuffer[0], &*node);
+            int avatarDataLength = avatarDataEndpoint - (unsigned char*)&avatarDataBuffer;
+
+            if (avatarDataLength + packetLength <= MAX_PACKET_SIZE) {
+                memcpy(currentBufferPosition, &avatarDataBuffer[0], avatarDataLength);
+                packetLength += avatarDataLength;
+                currentBufferPosition += avatarDataLength;
+            } else {
+                packetsSent++;
+                //printf("packetsSent=%d packetLength=%d\n", packetsSent, packetLength);
+                nodeList->getNodeSocket()->send(nodeAddress, broadcastPacket, currentBufferPosition - broadcastPacket);
+                
+                // reset the packet
+                currentBufferPosition = broadcastPacket + numHeaderBytes;
+                packetLength = currentBufferPosition - broadcastPacket;
+                
+                // copy the avatar that didn't fit into the next packet
+                memcpy(currentBufferPosition, &avatarDataBuffer[0], avatarDataLength);
+                packetLength += avatarDataLength;
+                currentBufferPosition += avatarDataLength;
+            }
+        }
+    }
+    packetsSent++;
+    //printf("packetsSent=%d packetLength=%d\n", packetsSent, packetLength);
+    nodeList->getNodeSocket()->send(nodeAddress, broadcastPacket, currentBufferPosition - broadcastPacket);
+}
+
 int main(int argc, const char* argv[]) {
 
     NodeList* nodeList = NodeList::createInstance(NODE_TYPE_AVATAR_MIXER, AVATAR_LISTEN_PORT);
@@ -67,14 +108,11 @@ int main(int argc, const char* argv[]) {
     
     nodeList->startSilentNodeRemovalThread();
     
-    sockaddr *nodeAddress = new sockaddr;
-    unsigned char *packetData = new unsigned char[MAX_PACKET_SIZE];
+    sockaddr* nodeAddress = new sockaddr;
     ssize_t receivedBytes = 0;
     
-    unsigned char *broadcastPacket = new unsigned char[MAX_PACKET_SIZE];
-    int numHeaderBytes = populateTypeAndVersion(broadcastPacket, PACKET_TYPE_BULK_AVATAR_DATA);
+    unsigned char* packetData = new unsigned char[MAX_PACKET_SIZE];
     
-    unsigned char* currentBufferPosition = NULL;
     
     uint16_t nodeID = 0;
     Node* avatarNode = NULL;
@@ -104,17 +142,7 @@ int main(int argc, const char* argv[]) {
                     // parse positional data from an node
                     nodeList->updateNodeWithData(avatarNode, packetData, receivedBytes);
                 case PACKET_TYPE_INJECT_AUDIO:
-                    currentBufferPosition = broadcastPacket + numHeaderBytes;
-                    
-                    // send back a packet with other active node data to this node
-                    for (NodeList::iterator node = nodeList->begin(); node != nodeList->end(); node++) {
-                        if (node->getLinkedData() && !socketMatch(nodeAddress, node->getActiveSocket())) {
-                            currentBufferPosition = addNodeToBroadcastPacket(currentBufferPosition, &*node);
-                        }
-                    }
-                    
-                    nodeList->getNodeSocket()->send(nodeAddress, broadcastPacket, currentBufferPosition - broadcastPacket);
-                    
+                    broadcastAvatarData(nodeList, nodeAddress);
                     break;
                 case PACKET_TYPE_AVATAR_VOXEL_URL:
                 case PACKET_TYPE_AVATAR_FACE_VIDEO:

From bacb4f96e37e68492c82c027888ff28521001166 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Wed, 24 Jul 2013 09:59:51 -0700
Subject: [PATCH 02/27] added notes

---
 avatar-mixer/src/main.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/avatar-mixer/src/main.cpp b/avatar-mixer/src/main.cpp
index b2e28fe484..8383c992b2 100644
--- a/avatar-mixer/src/main.cpp
+++ b/avatar-mixer/src/main.cpp
@@ -51,6 +51,13 @@ void attachAvatarDataToNode(Node* newNode) {
     }
 }
 
+// NOTE: some additional optimizations to consider.
+//    1) use the view frustum to cull those avatars that are out of view. Since avatar data doesn't need to be present
+//       if the avatar is not in view or in the keyhole.
+//    2) after culling for view frustum, sort order the avatars by distance, send the closest ones first.
+//    3) if we need to rate limit the amount of data we send, we can use a distance weighted "semi-random" function to 
+//       determine which avatars are included in the packet stream
+//    4) we should optimize the avatar data format to be more compact (100 bytes is pretty wasteful).
 unsigned char broadcastPacketBuffer[MAX_PACKET_SIZE];
 unsigned char avatarDataBuffer[MAX_PACKET_SIZE];
 void broadcastAvatarData(NodeList* nodeList, sockaddr* nodeAddress) {

From 212fddbd346f4ecd52c19f44e4c0f742a8e4f114 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Thu, 25 Jul 2013 12:29:17 -0700
Subject: [PATCH 03/27] CR feedback

---
 avatar-mixer/src/main.cpp | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/avatar-mixer/src/main.cpp b/avatar-mixer/src/main.cpp
index 8383c992b2..0677ffbc7e 100644
--- a/avatar-mixer/src/main.cpp
+++ b/avatar-mixer/src/main.cpp
@@ -58,13 +58,12 @@ void attachAvatarDataToNode(Node* newNode) {
 //    3) if we need to rate limit the amount of data we send, we can use a distance weighted "semi-random" function to 
 //       determine which avatars are included in the packet stream
 //    4) we should optimize the avatar data format to be more compact (100 bytes is pretty wasteful).
-unsigned char broadcastPacketBuffer[MAX_PACKET_SIZE];
-unsigned char avatarDataBuffer[MAX_PACKET_SIZE];
 void broadcastAvatarData(NodeList* nodeList, sockaddr* nodeAddress) {
-    unsigned char* broadcastPacket = (unsigned char*)&::broadcastPacketBuffer[0];
+    static unsigned char broadcastPacketBuffer[MAX_PACKET_SIZE];
+    static unsigned char avatarDataBuffer[MAX_PACKET_SIZE];
+    unsigned char* broadcastPacket = (unsigned char*)&broadcastPacketBuffer[0];
     int numHeaderBytes = populateTypeAndVersion(broadcastPacket, PACKET_TYPE_BULK_AVATAR_DATA);
-    unsigned char* currentBufferPosition = NULL;
-    currentBufferPosition = broadcastPacket + numHeaderBytes;
+    unsigned char* currentBufferPosition = broadcastPacket + numHeaderBytes;
     int packetLength = currentBufferPosition - broadcastPacket;
     int packetsSent = 0;
 

From 919f2a4a939df264e11a4ef82ed7827c759683b6 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Thu, 25 Jul 2013 12:56:00 -0700
Subject: [PATCH 04/27] fix voxel-server crash

---
 libraries/voxels/src/VoxelTree.cpp | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/libraries/voxels/src/VoxelTree.cpp b/libraries/voxels/src/VoxelTree.cpp
index b26a70f34b..fe67a50dee 100644
--- a/libraries/voxels/src/VoxelTree.cpp
+++ b/libraries/voxels/src/VoxelTree.cpp
@@ -1071,6 +1071,9 @@ int VoxelTree::encodeTreeBitstream(VoxelNode* node, unsigned char* outputBuffer,
 int VoxelTree::encodeTreeBitstreamRecursion(VoxelNode* node, unsigned char* outputBuffer, int availableBytes, VoxelNodeBag& bag,
                                             EncodeBitstreamParams& params, int& currentEncodeLevel) const {
 
+    // you can't call this without a valid node
+    assert(node);
+    
     // How many bytes have we written so far at this level;
     int bytesAtThisLevel = 0;
 
@@ -1228,6 +1231,7 @@ int VoxelTree::encodeTreeBitstreamRecursion(VoxelNode* node, unsigned char* outp
         }
 
         // track stats
+        // must check childNode here, because it could be we got here with no childNode
         if (params.stats && childNode) {
             params.stats->traversed(childNode);
         }
@@ -1243,7 +1247,8 @@ int VoxelTree::encodeTreeBitstreamRecursion(VoxelNode* node, unsigned char* outp
         bool childIsInView  = (childNode && (!params.viewFrustum || childNode->isInView(*params.viewFrustum)));
 
         if (!childIsInView) {
-            if (params.stats) {
+            // must check childNode here, because it could be we got here because there was no childNode
+            if (params.stats && childNode) {
                 params.stats->skippedOutOfView(childNode);
             }
         } else {
@@ -1253,6 +1258,7 @@ int VoxelTree::encodeTreeBitstreamRecursion(VoxelNode* node, unsigned char* outp
                                      boundaryDistanceForRenderLevel(childNode->getLevel() + params.boundaryLevelAdjust);
 
             if (!(distance < boundaryDistance)) {
+                // don't need to check childNode here, because we can't get here with no childNode
                 if (params.stats) {
                     params.stats->skippedDistance(childNode);
                 }
@@ -1306,9 +1312,11 @@ int VoxelTree::encodeTreeBitstreamRecursion(VoxelNode* node, unsigned char* outp
                      
                 // track some stats               
                 if (params.stats) {
+                    // don't need to check childNode here, because we can't get here with no childNode
                     if (!shouldRender && childNode->isLeaf()) {
                         params.stats->skippedDistance(childNode);
                     }
+                    // don't need to check childNode here, because we can't get here with no childNode
                     if (childIsOccluded) {
                         params.stats->skippedOccluded(childNode);
                     }
@@ -1339,6 +1347,7 @@ int VoxelTree::encodeTreeBitstreamRecursion(VoxelNode* node, unsigned char* outp
                         inViewWithColorCount++;
                     } else {
                         // otherwise just track stats of the items we discarded
+                        // don't need to check childNode here, because we can't get here with no childNode
                         if (params.stats) {
                             if (childWasInView) {
                                 params.stats->skippedWasInView(childNode);
@@ -1368,6 +1377,7 @@ int VoxelTree::encodeTreeBitstreamRecursion(VoxelNode* node, unsigned char* outp
                 writeToThisLevelBuffer += BYTES_PER_COLOR; // move the pointer for color
                 bytesAtThisLevel += BYTES_PER_COLOR; // keep track of byte count for color
 
+                // don't need to check childNode here, because we can't get here with no childNode
                 if (params.stats) {
                     params.stats->colorSent(childNode);
                 }
@@ -1407,6 +1417,7 @@ int VoxelTree::encodeTreeBitstreamRecursion(VoxelNode* node, unsigned char* outp
     } else {
         bag.insert(node);
 
+        // don't need to check node here, because we can't get here with no node
         if (params.stats) {
             params.stats->didntFit(node);
         }

From 79648ce656a43f4ad3735d83e4d589dd463946bf Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Thu, 25 Jul 2013 15:22:23 -0700
Subject: [PATCH 05/27] fix bug with dragonfly leaving trailing bits

---
 libraries/voxels/src/VoxelTree.cpp | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/libraries/voxels/src/VoxelTree.cpp b/libraries/voxels/src/VoxelTree.cpp
index fe67a50dee..7bf3c66888 100644
--- a/libraries/voxels/src/VoxelTree.cpp
+++ b/libraries/voxels/src/VoxelTree.cpp
@@ -1485,11 +1485,13 @@ int VoxelTree::encodeTreeBitstreamRecursion(VoxelNode* node, unsigned char* outp
                 if (params.includeColor && !params.includeExistsBits && childTreeBytesOut == 2) {
                     childTreeBytesOut = 0; // this is the degenerate case of a tree with no colors and no child trees
                 }
-                // If we've asked for existBits, this is also true, except that the tree will output 3 bytes
-                // NOTE: does this introduce a problem with detecting deletion??
-                if (params.includeColor && params.includeExistsBits && childTreeBytesOut == 3) {
-                    childTreeBytesOut = 0; // this is the degenerate case of a tree with no colors and no child trees
-                }
+                // We used to try to collapse trees that didn't contain any data, but this does appear to create a problem
+                // in detecting node deletion. So, I've commented this out but left it in here as a warning to anyone else
+                // about not attempting to add this optimization back in, without solving the node deletion case.
+                // We need to send these bitMasks in case the exists in tree bitmask is indicating the deletion of a tree
+                //if (params.includeColor && params.includeExistsBits && childTreeBytesOut == 3) {
+                //    childTreeBytesOut = 0; // this is the degenerate case of a tree with no colors and no child trees
+                //}
 
                 bytesAtThisLevel += childTreeBytesOut;
                 availableBytes -= childTreeBytesOut;

From 0c95dc4adf2538897a75517686a8d7b72545f95d Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Fri, 26 Jul 2013 11:12:48 -0700
Subject: [PATCH 06/27] Fixed voxel trails from animations - removed
 stageForDeletion behavior of VoxelNode - replaced with VoxelNodeDeletionHook
 strategy - VoxelSystem now cleans up previously used VBO index slots via hook

---
 interface/src/VoxelSystem.cpp         | 66 +++++++++++++++------------
 interface/src/VoxelSystem.h           |  7 +++
 libraries/voxels/src/VoxelNode.cpp    | 23 +++-------
 libraries/voxels/src/VoxelNode.h      |  7 +--
 libraries/voxels/src/VoxelNodeBag.cpp |  1 -
 libraries/voxels/src/VoxelTree.cpp    | 20 +++-----
 libraries/voxels/src/VoxelTree.h      |  7 +--
 7 files changed, 59 insertions(+), 72 deletions(-)

diff --git a/interface/src/VoxelSystem.cpp b/interface/src/VoxelSystem.cpp
index f219e38dc6..0ea6d2d351 100644
--- a/interface/src/VoxelSystem.cpp
+++ b/interface/src/VoxelSystem.cpp
@@ -58,6 +58,32 @@ VoxelSystem::VoxelSystem(float treeScale, int maxVoxels) :
     _tree = new VoxelTree();
     pthread_mutex_init(&_bufferWriteLock, NULL);
     pthread_mutex_init(&_treeLock, NULL);
+
+    _hookID = VoxelNode::addDeleteHook(voxelNodeDeleteHook, (void*)this);
+}
+
+void VoxelSystem::voxelNodeDeleteHook(VoxelNode* node, void* extraData) {
+    VoxelSystem* theSystem = (VoxelSystem*)extraData;
+    
+    if (node->isKnownBufferIndex()) {
+        theSystem->freeBufferIndex(node->getBufferIndex());
+    }
+}
+
+void VoxelSystem::freeBufferIndex(glBufferIndex index) {
+    _freeIdexes.push_back(index);
+}
+
+void VoxelSystem::clearFreeBufferIndexes() {
+    for (int i = 0; i < _freeIdexes.size(); i++) {
+        glBufferIndex nodeIndex = _freeIdexes[i];
+        glm::vec3 startVertex(FLT_MAX, FLT_MAX, FLT_MAX);
+        float voxelScale = 0;
+        _writeVoxelDirtyArray[nodeIndex] = true;
+        nodeColor color = { 0, 0, 0, 0};
+        updateNodeInArrays(nodeIndex, startVertex, voxelScale, color);
+    }
+    _freeIdexes.clear();
 }
 
 VoxelSystem::~VoxelSystem() {
@@ -70,6 +96,8 @@ VoxelSystem::~VoxelSystem() {
     delete _tree;
     pthread_mutex_destroy(&_bufferWriteLock);
     pthread_mutex_destroy(&_treeLock);
+
+    VoxelNode::removeDeleteHook(_hookID);
 }
 
 void VoxelSystem::loadVoxelsFile(const char* fileName, bool wantColorRandomizer) {
@@ -173,6 +201,9 @@ void VoxelSystem::setupNewVoxelsForDrawing() {
     PerformanceWarning warn(_renderWarningsOn, "setupNewVoxelsForDrawing()"); // would like to include _voxelsInArrays, _voxelsUpdated
     uint64_t start = usecTimestampNow();
     uint64_t sinceLastTime = (start - _setupNewVoxelsForDrawingLastFinished) / 1000;
+    
+    // clear up the VBOs for any nodes that have been recently deleted.
+    clearFreeBufferIndexes();
 
     bool iAmDebugging = false;  // if you're debugging set this to true, so you won't get skipped for slow debugging
     if (!iAmDebugging && sinceLastTime <= std::max((float) _setupNewVoxelsForDrawingLastElapsed, SIXTY_FPS_IN_MILLISECONDS)) {
@@ -182,7 +213,7 @@ void VoxelSystem::setupNewVoxelsForDrawing() {
     uint64_t sinceLastViewCulling = (start - _lastViewCulling) / 1000;
     // If the view frustum is no longer changing, but has changed, since last time, then remove nodes that are out of view
     if ((sinceLastViewCulling >= std::max((float) _lastViewCullingElapsed, VIEW_CULLING_RATE_IN_MILLISECONDS))
-            && !isViewChanging() && hasViewChanged()) {
+            && !isViewChanging()) {
         _lastViewCulling = start;
 
         // When we call removeOutOfView() voxels, we don't actually remove the voxels from the VBOs, but we do remove
@@ -239,6 +270,7 @@ void VoxelSystem::setupNewVoxelsForDrawing() {
 }
 
 void VoxelSystem::cleanupRemovedVoxels() {
+    //printf("cleanupRemovedVoxels...\n");
     PerformanceWarning warn(_renderWarningsOn, "cleanupRemovedVoxels()");
     if (!_removedVoxels.isEmpty()) {
         while (!_removedVoxels.isEmpty()) {
@@ -323,7 +355,7 @@ int VoxelSystem::newTreeToArrays(VoxelNode* node) {
     bool  shouldRender    = false; // assume we don't need to render it
     // if it's colored, we might need to render it!
     shouldRender = node->calculateShouldRender(Application::getInstance()->getViewFrustum());
-    node->setShouldRender(shouldRender && !node->isStagedForDeletion());
+    node->setShouldRender(shouldRender);
     // let children figure out their renderness
     if (!node->isLeaf()) {
         for (int i = 0; i < NUMBER_OF_CHILDREN; i++) {
@@ -339,13 +371,6 @@ int VoxelSystem::newTreeToArrays(VoxelNode* node) {
     }
     node->clearDirtyBit(); // clear the dirty bit, do this before we potentially delete things.
     
-    // If the node has been asked to be deleted, but we've gotten to here, after updateNodeInArraysXXX()
-    // then it means our VBOs are "clean" and our vertices have been removed or not added. So we can now
-    // safely remove the node from the tree and actually delete it.
-    if (node->isStagedForDeletion()) {
-        _tree->deleteVoxelCodeFromTree(node->getOctalCode());
-    }
-    
     return voxelsUpdated;
 }
 
@@ -1111,7 +1136,7 @@ void VoxelSystem::collectStatsForTreesAndVBOs() {
 void VoxelSystem::deleteVoxelAt(float x, float y, float z, float s) {
     pthread_mutex_lock(&_treeLock);
     
-    _tree->deleteVoxelAt(x, y, z, s, true);
+    _tree->deleteVoxelAt(x, y, z, s);
     
     // redraw!
     setupNewVoxelsForDrawing();  // do we even need to do this? Or will the next network receive kick in?
@@ -1167,7 +1192,6 @@ struct FalseColorizeOccludedArgs {
     long nonLeaves;
     long nonLeavesOutOfView;
     long nonLeavesOccluded;
-    long stagedForDeletion;
 };
 
 struct FalseColorizeSubTreeOperationArgs {
@@ -1189,12 +1213,6 @@ bool VoxelSystem::falseColorizeOccludedOperation(VoxelNode* node, void* extraDat
     FalseColorizeOccludedArgs* args = (FalseColorizeOccludedArgs*) extraData;
     args->totalVoxels++;
 
-    // if this node is staged for deletion, then just return
-    if (node->isStagedForDeletion()) {
-        args->stagedForDeletion++;
-        return true;
-    }
-    
     // If we are a parent, let's see if we're completely occluded.
     if (!node->isLeaf()) {
         args->nonLeaves++;
@@ -1275,7 +1293,6 @@ void VoxelSystem::falseColorizeOccluded() {
     args.outOfView = 0;
     args.subtreeVoxelsSkipped = 0;
     args.nonLeaves = 0;
-    args.stagedForDeletion = 0;
     args.nonLeavesOutOfView = 0;
     args.nonLeavesOccluded = 0;
     args.tree = _tree;
@@ -1288,11 +1305,10 @@ void VoxelSystem::falseColorizeOccluded() {
 
     _tree->recurseTreeWithOperationDistanceSorted(falseColorizeOccludedOperation, position, (void*)&args);
 
-    qDebug("falseColorizeOccluded()\n    position=(%f,%f)\n    total=%ld\n    colored=%ld\n    occluded=%ld\n    notOccluded=%ld\n    outOfView=%ld\n    subtreeVoxelsSkipped=%ld\n    stagedForDeletion=%ld\n    nonLeaves=%ld\n    nonLeavesOutOfView=%ld\n    nonLeavesOccluded=%ld\n    pointInside_calls=%ld\n    occludes_calls=%ld\n intersects_calls=%ld\n", 
+    qDebug("falseColorizeOccluded()\n    position=(%f,%f)\n    total=%ld\n    colored=%ld\n    occluded=%ld\n    notOccluded=%ld\n    outOfView=%ld\n    subtreeVoxelsSkipped=%ld\n    nonLeaves=%ld\n    nonLeavesOutOfView=%ld\n    nonLeavesOccluded=%ld\n    pointInside_calls=%ld\n    occludes_calls=%ld\n intersects_calls=%ld\n", 
         position.x, position.y,
         args.totalVoxels, args.coloredVoxels, args.occludedVoxels, 
         args.notOccludedVoxels, args.outOfView, args.subtreeVoxelsSkipped, 
-        args.stagedForDeletion, 
         args.nonLeaves, args.nonLeavesOutOfView, args.nonLeavesOccluded,
         VoxelProjectedPolygon::pointInside_calls,
         VoxelProjectedPolygon::occludes_calls,
@@ -1310,12 +1326,6 @@ bool VoxelSystem::falseColorizeOccludedV2Operation(VoxelNode* node, void* extraD
     FalseColorizeOccludedArgs* args = (FalseColorizeOccludedArgs*) extraData;
     args->totalVoxels++;
 
-    // if this node is staged for deletion, then just return
-    if (node->isStagedForDeletion()) {
-        args->stagedForDeletion++;
-        return true;
-    }
-    
     // If we are a parent, let's see if we're completely occluded.
     if (!node->isLeaf()) {
         args->nonLeaves++;
@@ -1404,7 +1414,6 @@ void VoxelSystem::falseColorizeOccludedV2() {
     args.outOfView = 0;
     args.subtreeVoxelsSkipped = 0;
     args.nonLeaves = 0;
-    args.stagedForDeletion = 0;
     args.nonLeavesOutOfView = 0;
     args.nonLeavesOccluded = 0;
     args.tree = _tree;
@@ -1413,11 +1422,10 @@ void VoxelSystem::falseColorizeOccludedV2() {
 
     _tree->recurseTreeWithOperationDistanceSorted(falseColorizeOccludedV2Operation, position, (void*)&args);
 
-    qDebug("falseColorizeOccludedV2()\n    position=(%f,%f)\n    total=%ld\n    colored=%ld\n    occluded=%ld\n    notOccluded=%ld\n    outOfView=%ld\n    subtreeVoxelsSkipped=%ld\n    stagedForDeletion=%ld\n    nonLeaves=%ld\n    nonLeavesOutOfView=%ld\n    nonLeavesOccluded=%ld\n    pointInside_calls=%ld\n    occludes_calls=%ld\n    intersects_calls=%ld\n", 
+    qDebug("falseColorizeOccludedV2()\n    position=(%f,%f)\n    total=%ld\n    colored=%ld\n    occluded=%ld\n    notOccluded=%ld\n    outOfView=%ld\n    subtreeVoxelsSkipped=%ld\n    nonLeaves=%ld\n    nonLeavesOutOfView=%ld\n    nonLeavesOccluded=%ld\n    pointInside_calls=%ld\n    occludes_calls=%ld\n    intersects_calls=%ld\n", 
         position.x, position.y,
         args.totalVoxels, args.coloredVoxels, args.occludedVoxels, 
         args.notOccludedVoxels, args.outOfView, args.subtreeVoxelsSkipped, 
-        args.stagedForDeletion, 
         args.nonLeaves, args.nonLeavesOutOfView, args.nonLeavesOccluded,
         VoxelProjectedPolygon::pointInside_calls,
         VoxelProjectedPolygon::occludes_calls,
diff --git a/interface/src/VoxelSystem.h b/interface/src/VoxelSystem.h
index 411ae2f81f..cb12eee029 100644
--- a/interface/src/VoxelSystem.h
+++ b/interface/src/VoxelSystem.h
@@ -187,6 +187,13 @@ private:
     
     static ProgramObject* _perlinModulateProgram;
     static GLuint _permutationNormalTextureID;
+    
+    int _hookID;
+    std::vector<glBufferIndex> _freeIdexes;
+
+    static void voxelNodeDeleteHook(VoxelNode* node, void* extraData);
+    void freeBufferIndex(glBufferIndex index);
+    void clearFreeBufferIndexes();
 };
 
 #endif
diff --git a/libraries/voxels/src/VoxelNode.cpp b/libraries/voxels/src/VoxelNode.cpp
index 34eb2b2261..4a0f017326 100644
--- a/libraries/voxels/src/VoxelNode.cpp
+++ b/libraries/voxels/src/VoxelNode.cpp
@@ -50,7 +50,6 @@ void VoxelNode::init(unsigned char * octalCode) {
     _glBufferIndex = GLBUFFER_INDEX_UNKNOWN;
     _isDirty = true;
     _shouldRender = false;
-    _isStagedForDeletion = false;
     markWithChangedTime();
     calculateAABox();
 }
@@ -159,28 +158,18 @@ VoxelNode* VoxelNode::addChildAtIndex(int childIndex) {
 }
 
 // handles staging or deletion of all deep children
-void VoxelNode::safeDeepDeleteChildAtIndex(int childIndex, bool& stagedForDeletion) {
+void VoxelNode::safeDeepDeleteChildAtIndex(int childIndex) {
     VoxelNode* childToDelete = getChildAtIndex(childIndex);
     if (childToDelete) {
         // If the child is not a leaf, then call ourselves recursively on all the children
         if (!childToDelete->isLeaf()) {
             // delete all it's children
             for (int i = 0; i < NUMBER_OF_CHILDREN; i++) {
-                childToDelete->safeDeepDeleteChildAtIndex(i, stagedForDeletion);
+                childToDelete->safeDeepDeleteChildAtIndex(i);
             }
         }
-        // if this node has a BufferIndex then we need to stage it for deletion
-        // instead of actually deleting it from the tree
-        if (childToDelete->isKnownBufferIndex()) {
-            stagedForDeletion = true;
-        }
-        if (stagedForDeletion) {
-            childToDelete->stageForDeletion();
-            _isDirty = true;
-        } else {
-            deleteChildAtIndex(childIndex);
-            _isDirty = true;
-        } 
+        deleteChildAtIndex(childIndex);
+        _isDirty = true;
         markWithChangedTime();
     }
 }
@@ -190,7 +179,7 @@ void VoxelNode::setColorFromAverageOfChildren() {
     int colorArray[4] = {0,0,0,0};
     float density = 0.0f;
     for (int i = 0; i < NUMBER_OF_CHILDREN; i++) {
-        if (_children[i] && !_children[i]->isStagedForDeletion() && _children[i]->isColored()) {
+        if (_children[i] && _children[i]->isColored()) {
             for (int j = 0; j < 3; j++) {
                 colorArray[j] += _children[i]->getTrueColor()[j]; // color averaging should always be based on true colors
             }
@@ -279,7 +268,7 @@ bool VoxelNode::collapseIdenticalLeaves() {
     int red,green,blue;
     for (int i = 0; i < NUMBER_OF_CHILDREN; i++) {
         // if no child, child isn't a leaf, or child doesn't have a color
-        if (!_children[i] || _children[i]->isStagedForDeletion() || !_children[i]->isLeaf() || !_children[i]->isColored()) {
+        if (!_children[i] || !_children[i]->isLeaf() || !_children[i]->isColored()) {
             allChildrenMatch=false;
             //qDebug("SADNESS child missing or not colored! i=%d\n",i);
             break;
diff --git a/libraries/voxels/src/VoxelNode.h b/libraries/voxels/src/VoxelNode.h
index c84ce3c7d6..1efab362de 100644
--- a/libraries/voxels/src/VoxelNode.h
+++ b/libraries/voxels/src/VoxelNode.h
@@ -38,7 +38,7 @@ public:
     void deleteChildAtIndex(int childIndex);
     VoxelNode* removeChildAtIndex(int childIndex);
     VoxelNode* addChildAtIndex(int childIndex);
-    void safeDeepDeleteChildAtIndex(int childIndex, bool& stagedForDeletion); // handles staging or deletion of all descendents
+    void safeDeepDeleteChildAtIndex(int childIndex); // handles deletion of all descendents
 
     void setColorFromAverageOfChildren();
     void setRandomColor(int minimumBrightness);
@@ -82,10 +82,6 @@ public:
     void setShouldRender(bool shouldRender);
     bool getShouldRender() const { return _shouldRender; }
 
-    // Used by VoxelSystem to mark a node as to be deleted on next render pass
-    void stageForDeletion() { _isStagedForDeletion = true; _isDirty = true; };
-    bool isStagedForDeletion() const { return _isStagedForDeletion; }
-
 #ifndef NO_FALSE_COLOR // !NO_FALSE_COLOR means, does have false color
     void setFalseColor(colorPart red, colorPart green, colorPart blue);
     void setFalseColored(bool isFalseColored);
@@ -127,7 +123,6 @@ private:
     bool            _isDirty;
     uint64_t        _lastChanged;
     bool            _shouldRender;
-    bool            _isStagedForDeletion;
     AABox           _box;
     unsigned char*  _octalCode;
     VoxelNode*      _children[8];
diff --git a/libraries/voxels/src/VoxelNodeBag.cpp b/libraries/voxels/src/VoxelNodeBag.cpp
index 4f355116e4..bc515c9e5a 100644
--- a/libraries/voxels/src/VoxelNodeBag.cpp
+++ b/libraries/voxels/src/VoxelNodeBag.cpp
@@ -125,7 +125,6 @@ void VoxelNodeBag::remove(VoxelNode* node) {
         _elementsInUse--;
     }
 }
-
 void VoxelNodeBag::voxelNodeDeleteHook(VoxelNode* node, void* extraData) {
     VoxelNodeBag* theBag = (VoxelNodeBag*)extraData;
     theBag->remove(node); // note: remove can safely handle nodes that aren't in it, so we don't need to check contains()
diff --git a/libraries/voxels/src/VoxelTree.cpp b/libraries/voxels/src/VoxelTree.cpp
index 7bf3c66888..87def2cc23 100644
--- a/libraries/voxels/src/VoxelTree.cpp
+++ b/libraries/voxels/src/VoxelTree.cpp
@@ -311,8 +311,7 @@ int VoxelTree::readNodeData(VoxelNode* destinationNode, unsigned char* nodeData,
             // now also check the childrenInTreeMask, if the mask is missing the bit, then it means we need to delete this child
             // subtree/node, because it shouldn't actually exist in the tree.
             if (!oneAtBit(childrenInTreeMask, i) && destinationNode->getChildAtIndex(i)) {
-                bool stagedForDeletion = false; // assume staging is not needed
-                destinationNode->safeDeepDeleteChildAtIndex(i, stagedForDeletion);
+                destinationNode->safeDeepDeleteChildAtIndex(i);
                 _isDirty = true; // by definition!
             }
         }
@@ -366,15 +365,14 @@ void VoxelTree::readBitstreamToTree(unsigned char * bitstream, unsigned long int
     this->voxelsBytesReadStats.updateAverage(bufferSizeBytes);
 }
 
-void VoxelTree::deleteVoxelAt(float x, float y, float z, float s, bool stage) {
+void VoxelTree::deleteVoxelAt(float x, float y, float z, float s) {
     unsigned char* octalCode = pointToVoxel(x,y,z,s,0,0,0);
-    deleteVoxelCodeFromTree(octalCode, stage);
+    deleteVoxelCodeFromTree(octalCode);
     delete[] octalCode; // cleanup memory
 }
 
 class DeleteVoxelCodeFromTreeArgs {
 public:
-    bool            stage;
     bool            collapseEmptyTrees;
     unsigned char*  codeBuffer;
     int             lengthOfCode;
@@ -384,11 +382,10 @@ public:
 
 // 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, bool stage, bool collapseEmptyTrees) {
+void VoxelTree::deleteVoxelCodeFromTree(unsigned char* codeBuffer, bool collapseEmptyTrees) {
     // recurse the tree while decoding the codeBuffer, once you find the node in question, recurse
     // back and implement color reaveraging, and marking of lastChanged
     DeleteVoxelCodeFromTreeArgs args;
-    args.stage              = stage;
     args.collapseEmptyTrees = collapseEmptyTrees;
     args.codeBuffer         = codeBuffer;
     args.lengthOfCode       = numberOfThreeBitSectionsInCode(codeBuffer);
@@ -408,7 +405,6 @@ void VoxelTree::deleteVoxelCodeFromTreeRecursion(VoxelNode* node, void* extraDat
     // matches, then we've reached  our target node.
     if (lengthOfNodeCode == args->lengthOfCode) {
         // we've reached our target, depending on how we're called we may be able to operate on it
-        // if we're in "stage" mode, then we can could have the node staged, otherwise we can't really delete
         // it here, we need to recurse up, and delete it there. So we handle these cases the same to keep
         // the logic consistent.
         args->deleteLastChild = true;
@@ -468,11 +464,7 @@ void VoxelTree::deleteVoxelCodeFromTreeRecursion(VoxelNode* node, void* extraDat
 
     // If the lower level determined it needs to be deleted, then we should delete now.
     if (args->deleteLastChild) {
-        if (args->stage) {
-            childNode->stageForDeletion();
-        } else {
-            node->deleteChildAtIndex(childIndex); // note: this will track dirtiness and lastChanged for this node
-        }
+        node->deleteChildAtIndex(childIndex); // note: this will track dirtiness and lastChanged for this node
 
         // track our tree dirtiness
         _isDirty = true;
@@ -602,7 +594,7 @@ void VoxelTree::processRemoveVoxelBitstream(unsigned char * bitstream, int buffe
         int codeLength = numberOfThreeBitSectionsInCode(voxelCode);
         int voxelDataSize = bytesRequiredForCodeLength(codeLength) + SIZE_OF_COLOR_DATA;
 
-        deleteVoxelCodeFromTree(voxelCode, ACTUALLY_DELETE, COLLAPSE_EMPTY_TREE);
+        deleteVoxelCodeFromTree(voxelCode, COLLAPSE_EMPTY_TREE);
 
         voxelCode+=voxelDataSize;
         atByte+=voxelDataSize;
diff --git a/libraries/voxels/src/VoxelTree.h b/libraries/voxels/src/VoxelTree.h
index 199942605e..5cda791531 100644
--- a/libraries/voxels/src/VoxelTree.h
+++ b/libraries/voxels/src/VoxelTree.h
@@ -27,8 +27,6 @@ typedef enum {GRADIENT, RANDOM, NATURAL} creationMode;
 #define NO_COLOR               false
 #define WANT_COLOR             true
 #define IGNORE_VIEW_FRUSTUM    NULL
-#define JUST_STAGE_DELETION    true
-#define ACTUALLY_DELETE        false
 #define COLLAPSE_EMPTY_TREE    true
 #define DONT_COLLAPSE          false
 #define NO_OCCLUSION_CULLING   false
@@ -113,12 +111,11 @@ public:
                              bool includeColor = WANT_COLOR, bool includeExistsBits = WANT_EXISTS_BITS, 
                              VoxelNode* destinationNode = NULL);
     void readCodeColorBufferToTree(unsigned char* codeColorBuffer, bool destructive = false);
-    void deleteVoxelCodeFromTree(unsigned char* codeBuffer, bool stage = ACTUALLY_DELETE, 
-                                 bool collapseEmptyTrees = DONT_COLLAPSE);
+    void deleteVoxelCodeFromTree(unsigned char* codeBuffer, bool collapseEmptyTrees = DONT_COLLAPSE);
     void printTreeForDebugging(VoxelNode* startNode);
     void reaverageVoxelColors(VoxelNode* startNode);
 
-    void deleteVoxelAt(float x, float y, float z, float s, bool stage = false);
+    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, bool destructive = false);

From 4cca7e25724c2293b797a0819ceefb32e9c9851e Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Fri, 26 Jul 2013 11:44:19 -0700
Subject: [PATCH 07/27] Fixed issue with freeing up abandoned VBO slots when
 not moving with animation

---
 interface/src/VoxelSystem.cpp | 16 ++++++++++++++--
 interface/src/VoxelSystem.h   |  2 +-
 2 files changed, 15 insertions(+), 3 deletions(-)

diff --git a/interface/src/VoxelSystem.cpp b/interface/src/VoxelSystem.cpp
index 0ea6d2d351..8282b3d8e0 100644
--- a/interface/src/VoxelSystem.cpp
+++ b/interface/src/VoxelSystem.cpp
@@ -60,6 +60,7 @@ VoxelSystem::VoxelSystem(float treeScale, int maxVoxels) :
     pthread_mutex_init(&_treeLock, NULL);
 
     _hookID = VoxelNode::addDeleteHook(voxelNodeDeleteHook, (void*)this);
+    _abandonedVBOSlots = 0;
 }
 
 void VoxelSystem::voxelNodeDeleteHook(VoxelNode* node, void* extraData) {
@@ -82,6 +83,7 @@ void VoxelSystem::clearFreeBufferIndexes() {
         _writeVoxelDirtyArray[nodeIndex] = true;
         nodeColor color = { 0, 0, 0, 0};
         updateNodeInArrays(nodeIndex, startVertex, voxelScale, color);
+        _abandonedVBOSlots++;
     }
     _freeIdexes.clear();
 }
@@ -243,6 +245,10 @@ void VoxelSystem::setupNewVoxelsForDrawing() {
         }
         _voxelsUpdated = newTreeToArrays(_tree->rootNode);
         _tree->clearDirtyBit(); // after we pull the trees into the array, we can consider the tree clean
+
+        if (_writeRenderFullVBO) {
+            _abandonedVBOSlots = 0; // reset the count of our abandoned slots
+        }
         
         // since we called treeToArrays, we can assume that our VBO is in sync, and so partial updates to the VBOs are
         // ok again, until/unless we call removeOutOfView() 
@@ -270,14 +276,20 @@ void VoxelSystem::setupNewVoxelsForDrawing() {
 }
 
 void VoxelSystem::cleanupRemovedVoxels() {
-    //printf("cleanupRemovedVoxels...\n");
     PerformanceWarning warn(_renderWarningsOn, "cleanupRemovedVoxels()");
+    // This handles cleanup of voxels that were culled as part of our regular out of view culling operation
     if (!_removedVoxels.isEmpty()) {
         while (!_removedVoxels.isEmpty()) {
             delete _removedVoxels.extract();
         }
         _writeRenderFullVBO = true; // if we remove voxels, we must update our full VBOs
     }
+    // we also might have VBO slots that have been abandoned, if too many of our VBO slots
+    // are abandonded we want to rerender our full VBOs
+    const float TOO_MANY_ABANDONED_RATIO = 0.25f;
+    if (!_writeRenderFullVBO && (_abandonedVBOSlots > (_voxelsInWriteArrays * TOO_MANY_ABANDONED_RATIO))) {
+        _writeRenderFullVBO = true;
+    }
 }
 
 void VoxelSystem::copyWrittenDataToReadArraysFullVBOs() {
@@ -418,6 +430,7 @@ int VoxelSystem::updateNodeInArraysAsPartialVBO(VoxelNode* node) {
             // and our scale as infinitely small
             startVertex[0] = startVertex[1] = startVertex[2] = FLT_MAX;
             voxelScale = 0;
+            _abandonedVBOSlots++;
         }
 
         // If this node has not yet been written to the array, then add it to the end of the array.
@@ -470,7 +483,6 @@ void VoxelSystem::init() {
     _voxelsDirty = false;
     _voxelsInWriteArrays = 0;
     _voxelsInReadArrays = 0;
-    _unusedArraySpace = 0;
 
     // we will track individual dirty sections with these arrays of bools
     _writeVoxelDirtyArray = new bool[_maxVoxels];
diff --git a/interface/src/VoxelSystem.h b/interface/src/VoxelSystem.h
index cb12eee029..4a6d30c78b 100644
--- a/interface/src/VoxelSystem.h
+++ b/interface/src/VoxelSystem.h
@@ -155,7 +155,7 @@ private:
     unsigned long _voxelsUpdated;
     unsigned long _voxelsInReadArrays;
     unsigned long _voxelsInWriteArrays;
-    unsigned long _unusedArraySpace;
+    unsigned long _abandonedVBOSlots;
     
     bool _writeRenderFullVBO;
     bool _readRenderFullVBO;

From dd2655825a88aaa122c75ff696c1ffdca83aefc6 Mon Sep 17 00:00:00 2001
From: Mark Peng <peng.markv@gmail.com>
Date: Fri, 26 Jul 2013 16:08:17 -0700
Subject: [PATCH 08/27] Fix first person camera positioning to correspond to
 eyelevel. This makes sure the lookatVectors don't seem to point upwards when
 looking at you.

---
 interface/src/Application.cpp   | 2 +-
 interface/src/avatar/Avatar.cpp | 6 +++++-
 interface/src/avatar/Avatar.h   | 1 +
 3 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/interface/src/Application.cpp b/interface/src/Application.cpp
index c56a58ce90..8135e656ed 100644
--- a/interface/src/Application.cpp
+++ b/interface/src/Application.cpp
@@ -407,7 +407,7 @@ void Application::paintGL() {
     
     } else if (_myCamera.getMode() == CAMERA_MODE_FIRST_PERSON) {
         _myCamera.setTightness(0.0f);  //  In first person, camera follows head exactly without delay
-        _myCamera.setTargetPosition(_myAvatar.getUprightHeadPosition());
+        _myCamera.setTargetPosition(_myAvatar.getUprightEyeLevelPosition());
         _myCamera.setTargetRotation(_myAvatar.getHead().getCameraOrientation());
         
     } else if (_myCamera.getMode() == CAMERA_MODE_THIRD_PERSON) {
diff --git a/interface/src/avatar/Avatar.cpp b/interface/src/avatar/Avatar.cpp
index c2a2d5aadd..1d6d0ff57c 100755
--- a/interface/src/avatar/Avatar.cpp
+++ b/interface/src/avatar/Avatar.cpp
@@ -370,7 +370,11 @@ glm::vec3 Avatar::getUprightHeadPosition() const {
     return _position + getWorldAlignedOrientation() * glm::vec3(0.0f, _pelvisToHeadLength, 0.0f);
 }
 
-
+glm::vec3 Avatar::getUprightEyeLevelPosition() const {
+    const float EYE_UP_OFFSET = 0.36f;
+    glm::vec3 up = getWorldAlignedOrientation() * IDENTITY_UP;
+    return _position + up * _scale * BODY_BALL_RADIUS_HEAD_BASE * EYE_UP_OFFSET + glm::vec3(0.0f, _pelvisToHeadLength, 0.0f);;
+}
 
 void Avatar::updateThrust(float deltaTime, Transmitter * transmitter) {
     //
diff --git a/interface/src/avatar/Avatar.h b/interface/src/avatar/Avatar.h
index ec0d5a2ce5..fc1d7e204d 100755
--- a/interface/src/avatar/Avatar.h
+++ b/interface/src/avatar/Avatar.h
@@ -171,6 +171,7 @@ public:
     glm::vec3        getGravity        ()         const { return _gravity; }
     
     glm::vec3 getUprightHeadPosition() const;
+    glm::vec3 getUprightEyeLevelPosition() const;
     
     AvatarVoxelSystem* getVoxels() { return &_voxels; }
     

From 5812747ef8d7bf55091777fa8eebb274f67e95a2 Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Mon, 29 Jul 2013 10:06:03 -0700
Subject: [PATCH 09/27] Double the bitrate to see if we can reduce the
 blockiness.

---
 interface/src/Webcam.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/interface/src/Webcam.cpp b/interface/src/Webcam.cpp
index e37ca6c70e..814081301b 100644
--- a/interface/src/Webcam.cpp
+++ b/interface/src/Webcam.cpp
@@ -500,8 +500,9 @@ void FrameGrabber::grabFrame() {
         // initialize encoder context
         vpx_codec_enc_cfg_t codecConfig;
         vpx_codec_enc_config_default(vpx_codec_vp8_cx(), &codecConfig, 0);
-        codecConfig.rc_target_bitrate = ENCODED_FACE_WIDTH * combinedFaceHeight * codecConfig.rc_target_bitrate /
-            codecConfig.g_w / codecConfig.g_h;
+        const int QUALITY_MULTIPLIER = 2;
+        codecConfig.rc_target_bitrate = QUALITY_MULTIPLIER * ENCODED_FACE_WIDTH * combinedFaceHeight *
+            codecConfig.rc_target_bitrate / codecConfig.g_w / codecConfig.g_h;
         codecConfig.g_w = ENCODED_FACE_WIDTH;
         codecConfig.g_h = combinedFaceHeight;
         vpx_codec_enc_init(&_codec, vpx_codec_vp8_cx(), &codecConfig, 0); 

From 20360ad3e906aaf1e8bcf9092f351f0ade04913e Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Mon, 29 Jul 2013 10:41:45 -0700
Subject: [PATCH 10/27] Make particle system update/render toggleable, fix GCC
 compile warnings.

---
 interface/src/Application.cpp            | 14 +++++++-------
 interface/src/Application.h              |  1 +
 libraries/shared/src/PerfStat.cpp        |  2 +-
 libraries/voxels/src/VoxelSceneStats.cpp | 12 ++++++------
 4 files changed, 15 insertions(+), 14 deletions(-)

diff --git a/interface/src/Application.cpp b/interface/src/Application.cpp
index c56a58ce90..825b9801d7 100644
--- a/interface/src/Application.cpp
+++ b/interface/src/Application.cpp
@@ -75,8 +75,6 @@ using namespace std;
 static char STAR_FILE[] = "http://s3-us-west-1.amazonaws.com/highfidelity/stars.txt";
 static char STAR_CACHE_FILE[] = "cachedStars.txt";
 
-static const bool TESTING_PARTICLE_SYSTEM = true;
-
 static const int BANDWIDTH_METER_CLICK_MAX_DRAG_LENGTH = 6; // farther dragged clicks are ignored 
 
 const glm::vec3 START_LOCATION(4.f, 0.f, 5.f);   //  Where one's own node begins in the world
@@ -1497,11 +1495,11 @@ bool Application::sendVoxelsOperation(VoxelNode* node, void* extraData) {
             int usecToSleep =  CLIENT_TO_SERVER_VOXEL_SEND_INTERVAL_USECS - elapsed;
             if (usecToSleep > 0) {
                 qDebug("sendVoxelsOperation: packet: %d bytes:%lld elapsed %lld usecs, sleeping for %d usecs!\n",
-                       args->packetsSent, args->bytesSent, elapsed, usecToSleep);
+                       args->packetsSent, (long long int)args->bytesSent, (long long int)elapsed, usecToSleep);
                 usleep(usecToSleep);
             } else {
                 qDebug("sendVoxelsOperation: packet: %d bytes:%lld elapsed %lld usecs, no need to sleep!\n",
-                       args->packetsSent, args->bytesSent, elapsed);
+                       args->packetsSent, (long long int)args->bytesSent, (long long int)elapsed);
             }
             args->lastSendTime = now;
         }
@@ -1686,7 +1684,7 @@ void Application::pasteVoxels() {
         controlledBroadcastToNodes(args.messageBuffer, args.bufferInUse, & NODE_TYPE_VOXEL_SERVER, 1);
         qDebug("sending packet: %d\n", ++args.packetsSent);
         args.bytesSent += args.bufferInUse;
-        qDebug("total bytes sent: %lld\n", args.bytesSent);
+        qDebug("total bytes sent: %lld\n", (long long int)args.bytesSent);
     }
     
     if (calculatedOctCode) {
@@ -1751,6 +1749,8 @@ void Application::initMenu() {
     _renderLookatOn->setChecked(false);
     (_renderLookatIndicatorOn = renderMenu->addAction("Lookat Indicator"))->setCheckable(true);
     _renderLookatIndicatorOn->setChecked(true);
+    (_renderParticleSystemOn = renderMenu->addAction("Particle System"))->setCheckable(true);
+    _renderParticleSystemOn->setChecked(true);
     (_manualFirstPerson = renderMenu->addAction(
         "First Person", this, SLOT(setRenderFirstPerson(bool)), Qt::Key_P))->setCheckable(true);
     (_manualThirdPerson = renderMenu->addAction(
@@ -2260,7 +2260,7 @@ void Application::update(float deltaTime) {
     _audio.eventuallyAnalyzePing();
     #endif
     
-    if (TESTING_PARTICLE_SYSTEM) {
+    if (_renderParticleSystemOn->isChecked()) {
         updateParticleSystem(deltaTime);
     }        
 }
@@ -2716,7 +2716,7 @@ void Application::displaySide(Camera& whichCamera) {
         }
     }
 
-    if (TESTING_PARTICLE_SYSTEM) {
+    if (_renderParticleSystemOn->isChecked()) {
         if (_particleSystemInitialized) {
             _particleSystem.render();    
         }
diff --git a/interface/src/Application.h b/interface/src/Application.h
index bee9bb8b20..80ebd34250 100644
--- a/interface/src/Application.h
+++ b/interface/src/Application.h
@@ -267,6 +267,7 @@ private:
     QAction* _renderFrameTimerOn;    // Whether to show onscreen text overlay with stats
     QAction* _renderLookatOn;        // Whether to show lookat vectors from avatar eyes if looking at something
     QAction* _renderLookatIndicatorOn;
+    QAction* _renderParticleSystemOn;
     QAction* _manualFirstPerson;     // Whether to force first-person mode
     QAction* _manualThirdPerson;     // Whether to force third-person mode
     QAction* _logOn;                 // Whether to show on-screen log
diff --git a/libraries/shared/src/PerfStat.cpp b/libraries/shared/src/PerfStat.cpp
index 86985eb038..70bcaba009 100644
--- a/libraries/shared/src/PerfStat.cpp
+++ b/libraries/shared/src/PerfStat.cpp
@@ -59,7 +59,7 @@ PerfStat::~PerfStat() {
 	}
 
 	if (wantDebugOut) {	
-		qDebug("PerfStats: %s elapsed:%f average:%lf count:%ld total:%lf ut:%d us:%d ue:%d t:%ld s:%ld e:%ld\n",
+		qDebug("PerfStats: %s elapsed:%f average:%lf count:%ld total:%lf ut:%ld us:%ld ue:%ld t:%ld s:%ld e:%ld\n",
                this->group.c_str(),elapsed,average,count,totalTime,
                (end.tv_usec-start.tv_usec),start.tv_usec,end.tv_usec,
                (end.tv_sec-start.tv_sec),start.tv_sec,end.tv_sec
diff --git a/libraries/voxels/src/VoxelSceneStats.cpp b/libraries/voxels/src/VoxelSceneStats.cpp
index b226886a25..9dd696eaa6 100644
--- a/libraries/voxels/src/VoxelSceneStats.cpp
+++ b/libraries/voxels/src/VoxelSceneStats.cpp
@@ -378,10 +378,10 @@ int VoxelSceneStats::unpackFromMessage(unsigned char* sourceBuffer, int availabl
 void VoxelSceneStats::printDebugDetails() {
     qDebug("\n------------------------------\n");
     qDebug("VoxelSceneStats:\n");
-    qDebug("    start    : %llu \n", _start);
-    qDebug("    end      : %llu \n", _end);
-    qDebug("    elapsed  : %llu \n", _elapsed);
-    qDebug("    encoding : %llu \n", _totalEncodeTime);
+    qDebug("    start    : %llu \n", (long long unsigned int)_start);
+    qDebug("    end      : %llu \n", (long long unsigned int)_end);
+    qDebug("    elapsed  : %llu \n", (long long unsigned int)_elapsed);
+    qDebug("    encoding : %llu \n", (long long unsigned int)_totalEncodeTime);
     qDebug("\n");
     qDebug("    full scene: %s\n", debug::valueOf(_isFullScene));
     qDebug("    moving: %s\n", debug::valueOf(_isMoving));
@@ -457,12 +457,12 @@ char* VoxelSceneStats::getItemValue(int item) {
             calcAverageFPS = (float)USECS_PER_SECOND / (float)elapsedAverage;
 
             sprintf(_itemValueBuffer, "%llu usecs (%d fps) Average: %.0f usecs (%d fps)", 
-                    _elapsed, calcFPS, elapsedAverage, calcAverageFPS);
+                    (long long unsigned int)_elapsed, calcFPS, elapsedAverage, calcAverageFPS);
             break;
         }
         case ITEM_ENCODE:
             calcFPS = (float)USECS_PER_SECOND / (float)_totalEncodeTime;
-            sprintf(_itemValueBuffer, "%llu usecs (%d fps)", _totalEncodeTime, calcFPS);
+            sprintf(_itemValueBuffer, "%llu usecs (%d fps)", (long long unsigned int)_totalEncodeTime, calcFPS);
             break;
         case ITEM_PACKETS: {
             float elapsedSecs = ((float)_elapsed / (float)USECS_PER_SECOND);

From d01f694d4914848e54e9fda8ef793c68af74dcae Mon Sep 17 00:00:00 2001
From: Mark Peng <peng.markv@gmail.com>
Date: Mon, 29 Jul 2013 11:52:29 -0700
Subject: [PATCH 11/27] Remove extra semicolon in avatar.cpp

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

diff --git a/interface/src/avatar/Avatar.cpp b/interface/src/avatar/Avatar.cpp
index 1d6d0ff57c..0bf2c94b10 100755
--- a/interface/src/avatar/Avatar.cpp
+++ b/interface/src/avatar/Avatar.cpp
@@ -373,7 +373,7 @@ glm::vec3 Avatar::getUprightHeadPosition() const {
 glm::vec3 Avatar::getUprightEyeLevelPosition() const {
     const float EYE_UP_OFFSET = 0.36f;
     glm::vec3 up = getWorldAlignedOrientation() * IDENTITY_UP;
-    return _position + up * _scale * BODY_BALL_RADIUS_HEAD_BASE * EYE_UP_OFFSET + glm::vec3(0.0f, _pelvisToHeadLength, 0.0f);;
+    return _position + up * _scale * BODY_BALL_RADIUS_HEAD_BASE * EYE_UP_OFFSET + glm::vec3(0.0f, _pelvisToHeadLength, 0.0f);
 }
 
 void Avatar::updateThrust(float deltaTime, Transmitter * transmitter) {

From bfd7f3a6c9738e087afa554415a05f653569cf80 Mon Sep 17 00:00:00 2001
From: Mark Peng <peng.markv@gmail.com>
Date: Mon, 29 Jul 2013 12:25:01 -0700
Subject: [PATCH 12/27] Remove rendering of your own avatar's lookatVectors.
 This fixes the behavior where if you are moving and jumping, you will
 occasionally see your own lookatVectors on your screen.

---
 interface/src/Application.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/interface/src/Application.cpp b/interface/src/Application.cpp
index c8be70b0e4..f331ee9407 100644
--- a/interface/src/Application.cpp
+++ b/interface/src/Application.cpp
@@ -2709,7 +2709,6 @@ void Application::displaySide(Camera& whichCamera) {
             _myAvatar.getHead().setLookAtPosition(_myCamera.getPosition());
         } 
         _myAvatar.render(_lookingInMirror->isChecked(), _renderAvatarBalls->isChecked());
-        _myAvatar.setDisplayingLookatVectors(_renderLookatOn->isChecked());
 
         if (_renderLookatIndicatorOn->isChecked() && _isLookingAtOtherAvatar) {
             renderLookatIndicator(_lookatOtherPosition, whichCamera);

From d6428a81459f1875e0385f6ffc80a4749b08b095 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Mon, 29 Jul 2013 13:03:42 -0700
Subject: [PATCH 13/27] removed unneeded cast

---
 interface/src/VoxelSystem.cpp         | 2 +-
 libraries/voxels/src/VoxelNodeBag.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/interface/src/VoxelSystem.cpp b/interface/src/VoxelSystem.cpp
index 8282b3d8e0..c1da906c3e 100644
--- a/interface/src/VoxelSystem.cpp
+++ b/interface/src/VoxelSystem.cpp
@@ -59,7 +59,7 @@ VoxelSystem::VoxelSystem(float treeScale, int maxVoxels) :
     pthread_mutex_init(&_bufferWriteLock, NULL);
     pthread_mutex_init(&_treeLock, NULL);
 
-    _hookID = VoxelNode::addDeleteHook(voxelNodeDeleteHook, (void*)this);
+    _hookID = VoxelNode::addDeleteHook(voxelNodeDeleteHook, this);
     _abandonedVBOSlots = 0;
 }
 
diff --git a/libraries/voxels/src/VoxelNodeBag.cpp b/libraries/voxels/src/VoxelNodeBag.cpp
index bc515c9e5a..713f4de1dd 100644
--- a/libraries/voxels/src/VoxelNodeBag.cpp
+++ b/libraries/voxels/src/VoxelNodeBag.cpp
@@ -13,7 +13,7 @@ VoxelNodeBag::VoxelNodeBag() :
     _bagElements(NULL),
     _elementsInUse(0),
     _sizeOfElementsArray(0) {
-    _hookID = VoxelNode::addDeleteHook(voxelNodeDeleteHook, (void*)this);
+    _hookID = VoxelNode::addDeleteHook(voxelNodeDeleteHook, this);
 };
 
 VoxelNodeBag::~VoxelNodeBag() {

From 97aaa738c357a712f40b54578a84bb4653fd4a0a Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Mon, 29 Jul 2013 13:07:12 -0700
Subject: [PATCH 14/27] fixed typo

---
 interface/src/VoxelSystem.cpp | 8 ++++----
 interface/src/VoxelSystem.h   | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/interface/src/VoxelSystem.cpp b/interface/src/VoxelSystem.cpp
index c1da906c3e..740defd110 100644
--- a/interface/src/VoxelSystem.cpp
+++ b/interface/src/VoxelSystem.cpp
@@ -72,12 +72,12 @@ void VoxelSystem::voxelNodeDeleteHook(VoxelNode* node, void* extraData) {
 }
 
 void VoxelSystem::freeBufferIndex(glBufferIndex index) {
-    _freeIdexes.push_back(index);
+    _freeIndexes.push_back(index);
 }
 
 void VoxelSystem::clearFreeBufferIndexes() {
-    for (int i = 0; i < _freeIdexes.size(); i++) {
-        glBufferIndex nodeIndex = _freeIdexes[i];
+    for (int i = 0; i < _freeIndexes.size(); i++) {
+        glBufferIndex nodeIndex = _freeIndexes[i];
         glm::vec3 startVertex(FLT_MAX, FLT_MAX, FLT_MAX);
         float voxelScale = 0;
         _writeVoxelDirtyArray[nodeIndex] = true;
@@ -85,7 +85,7 @@ void VoxelSystem::clearFreeBufferIndexes() {
         updateNodeInArrays(nodeIndex, startVertex, voxelScale, color);
         _abandonedVBOSlots++;
     }
-    _freeIdexes.clear();
+    _freeIndexes.clear();
 }
 
 VoxelSystem::~VoxelSystem() {
diff --git a/interface/src/VoxelSystem.h b/interface/src/VoxelSystem.h
index 4a6d30c78b..1e47cda52a 100644
--- a/interface/src/VoxelSystem.h
+++ b/interface/src/VoxelSystem.h
@@ -189,7 +189,7 @@ private:
     static GLuint _permutationNormalTextureID;
     
     int _hookID;
-    std::vector<glBufferIndex> _freeIdexes;
+    std::vector<glBufferIndex> _freeIndexes;
 
     static void voxelNodeDeleteHook(VoxelNode* node, void* extraData);
     void freeBufferIndex(glBufferIndex index);

From 03a75ab295a35010c553d3be4d711d79cfa3fa1a Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Mon, 29 Jul 2013 13:08:05 -0700
Subject: [PATCH 15/27] fixed spacing

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

diff --git a/interface/src/VoxelSystem.cpp b/interface/src/VoxelSystem.cpp
index 740defd110..af3f7ce5c2 100644
--- a/interface/src/VoxelSystem.cpp
+++ b/interface/src/VoxelSystem.cpp
@@ -81,7 +81,7 @@ void VoxelSystem::clearFreeBufferIndexes() {
         glm::vec3 startVertex(FLT_MAX, FLT_MAX, FLT_MAX);
         float voxelScale = 0;
         _writeVoxelDirtyArray[nodeIndex] = true;
-        nodeColor color = { 0, 0, 0, 0};
+        nodeColor color = {0, 0, 0, 0};
         updateNodeInArrays(nodeIndex, startVertex, voxelScale, color);
         _abandonedVBOSlots++;
     }

From e20f163e0a6015dad18251d263c38a436994dea0 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Mon, 29 Jul 2013 13:34:58 -0700
Subject: [PATCH 16/27] changed some defines to consts

---
 libraries/voxels/src/VoxelTree.h | 30 ++++++++++++++++--------------
 1 file changed, 16 insertions(+), 14 deletions(-)

diff --git a/libraries/voxels/src/VoxelTree.h b/libraries/voxels/src/VoxelTree.h
index 5cda791531..88394bd825 100644
--- a/libraries/voxels/src/VoxelTree.h
+++ b/libraries/voxels/src/VoxelTree.h
@@ -22,21 +22,23 @@
 typedef bool (*RecurseVoxelTreeOperation)(VoxelNode* node, void* extraData);
 typedef enum {GRADIENT, RANDOM, NATURAL} creationMode;
 
-#define NO_EXISTS_BITS         false
-#define WANT_EXISTS_BITS       true
-#define NO_COLOR               false
-#define WANT_COLOR             true
-#define IGNORE_VIEW_FRUSTUM    NULL
-#define COLLAPSE_EMPTY_TREE    true
-#define DONT_COLLAPSE          false
-#define NO_OCCLUSION_CULLING   false
-#define WANT_OCCLUSION_CULLING true
-#define IGNORE_COVERAGE_MAP    NULL
-#define DONT_CHOP              0
-#define NO_BOUNDARY_ADJUST     0
-#define LOW_RES_MOVING_ADJUST  1
-#define IGNORE_LAST_SENT       0
+const bool NO_EXISTS_BITS         = false;
+const bool WANT_EXISTS_BITS       = true;
+const bool NO_COLOR               = false;
+const bool WANT_COLOR             = true;
+const bool COLLAPSE_EMPTY_TREE    = true;
+const bool DONT_COLLAPSE          = false;
+const bool NO_OCCLUSION_CULLING   = false;
+const bool WANT_OCCLUSION_CULLING = true;
+
+const int DONT_CHOP              = 0;
+const int NO_BOUNDARY_ADJUST     = 0;
+const int LOW_RES_MOVING_ADJUST  = 1;
+const uint64_t IGNORE_LAST_SENT  = 0;
+
 #define IGNORE_SCENE_STATS     NULL
+#define IGNORE_VIEW_FRUSTUM    NULL
+#define IGNORE_COVERAGE_MAP    NULL
 
 class EncodeBitstreamParams {
 public:

From 9662b956c7027f8aa4a606fc3636c71bdd54413a Mon Sep 17 00:00:00 2001
From: Leonardo Murillo <leonardo@murillodigital.com>
Date: Mon, 29 Jul 2013 16:00:55 -0600
Subject: [PATCH 17/27] Fixing cmake path on seed's groovy

---
 jenkins/jobs.groovy | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jenkins/jobs.groovy b/jenkins/jobs.groovy
index 114e4389ed..5acf313a9a 100644
--- a/jenkins/jobs.groovy
+++ b/jenkins/jobs.groovy
@@ -90,7 +90,7 @@ static Closure cmakeBuild(srcDir, instCommand) {
             installCommand instCommand
             preloadScript ''
             cmakeArgs ''
-            projectCmakePath '/usr/bin/cmake'
+            projectCmakePath '/usr/local/bin/cmake'
             cleanBuild 'false'
             cleanInstallDir 'false'
             builderImpl ''
@@ -138,4 +138,4 @@ parameterizedJob.with {
         (project / publishers / 'hudson.plugins.postbuildtask.PostbuildTask' / 
             tasks / 'hudson.plugins.postbuildtask.TaskProperties' / script).setValue(curlCommand)
     }
-}
\ No newline at end of file
+}

From 1a73485e36400c76c446115b3a871bbb6d742533 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Mon, 29 Jul 2013 15:30:30 -0700
Subject: [PATCH 18/27] Improved VoxelNode delete callback based on CR feedback
 - changed hooks to use a virtual base class approach - switched account of
 hooks to use a vector instead of home grown solution - added support for
 VoxelNode to know what VoxelSystem it belongs to

---
 interface/src/VoxelSystem.cpp         | 15 +++++-----
 interface/src/VoxelSystem.h           |  5 ++--
 libraries/voxels/src/VoxelNode.cpp    | 43 ++++++++-------------------
 libraries/voxels/src/VoxelNode.h      | 29 ++++++++++--------
 libraries/voxels/src/VoxelNodeBag.cpp | 11 +++----
 libraries/voxels/src/VoxelNodeBag.h   |  4 ++-
 6 files changed, 48 insertions(+), 59 deletions(-)

diff --git a/interface/src/VoxelSystem.cpp b/interface/src/VoxelSystem.cpp
index af3f7ce5c2..2d1bfb577c 100644
--- a/interface/src/VoxelSystem.cpp
+++ b/interface/src/VoxelSystem.cpp
@@ -59,15 +59,13 @@ VoxelSystem::VoxelSystem(float treeScale, int maxVoxels) :
     pthread_mutex_init(&_bufferWriteLock, NULL);
     pthread_mutex_init(&_treeLock, NULL);
 
-    _hookID = VoxelNode::addDeleteHook(voxelNodeDeleteHook, this);
+    VoxelNode::addDeleteHook(this);
     _abandonedVBOSlots = 0;
 }
 
-void VoxelSystem::voxelNodeDeleteHook(VoxelNode* node, void* extraData) {
-    VoxelSystem* theSystem = (VoxelSystem*)extraData;
-    
-    if (node->isKnownBufferIndex()) {
-        theSystem->freeBufferIndex(node->getBufferIndex());
+void VoxelSystem::nodeDeleted(VoxelNode* node) {
+    if (node->isKnownBufferIndex() && (node->getVoxelSystem() == this)) {
+        freeBufferIndex(node->getBufferIndex());
     }
 }
 
@@ -99,7 +97,7 @@ VoxelSystem::~VoxelSystem() {
     pthread_mutex_destroy(&_bufferWriteLock);
     pthread_mutex_destroy(&_treeLock);
 
-    VoxelNode::removeDeleteHook(_hookID);
+    VoxelNode::removeDeleteHook(this);
 }
 
 void VoxelSystem::loadVoxelsFile(const char* fileName, bool wantColorRandomizer) {
@@ -401,11 +399,13 @@ int VoxelSystem::updateNodeInArraysAsFullVBO(VoxelNode* node) {
         // and RGB color for each added vertex
         updateNodeInArrays(nodeIndex, startVertex, voxelScale, node->getColor());
         node->setBufferIndex(nodeIndex);
+        node->setVoxelSystem(this);
         _writeVoxelDirtyArray[nodeIndex] = true; // just in case we switch to Partial mode
         _voxelsInWriteArrays++; // our know vertices in the arrays
         return 1; // rendered
     } else {
         node->setBufferIndex(GLBUFFER_INDEX_UNKNOWN);
+        node->setVoxelSystem(NULL);
     }
     
     return 0; // not-rendered
@@ -440,6 +440,7 @@ int VoxelSystem::updateNodeInArraysAsPartialVBO(VoxelNode* node) {
         } else {
             nodeIndex = _voxelsInWriteArrays;
             node->setBufferIndex(nodeIndex);
+            node->setVoxelSystem(this);
             _voxelsInWriteArrays++;
         }
         _writeVoxelDirtyArray[nodeIndex] = true;
diff --git a/interface/src/VoxelSystem.h b/interface/src/VoxelSystem.h
index 1e47cda52a..ca390a5a20 100644
--- a/interface/src/VoxelSystem.h
+++ b/interface/src/VoxelSystem.h
@@ -28,7 +28,7 @@ class ProgramObject;
 
 const int NUM_CHILDREN = 8;
 
-class VoxelSystem : public NodeData {
+class VoxelSystem : public NodeData, public VoxelNodeDeleteHook {
 public:
     VoxelSystem(float treeScale = TREE_SCALE, int maxVoxels = MAX_VOXELS_PER_SYSTEM);
     ~VoxelSystem();
@@ -92,6 +92,8 @@ public:
 
     CoverageMapV2 myCoverageMapV2;
     CoverageMap   myCoverageMap;
+
+    virtual void nodeDeleted(VoxelNode* node);
     
 protected:
     float _treeScale; 
@@ -191,7 +193,6 @@ private:
     int _hookID;
     std::vector<glBufferIndex> _freeIndexes;
 
-    static void voxelNodeDeleteHook(VoxelNode* node, void* extraData);
     void freeBufferIndex(glBufferIndex index);
     void clearFreeBufferIndexes();
 };
diff --git a/libraries/voxels/src/VoxelNode.cpp b/libraries/voxels/src/VoxelNode.cpp
index 4a0f017326..8a76d9dfe8 100644
--- a/libraries/voxels/src/VoxelNode.cpp
+++ b/libraries/voxels/src/VoxelNode.cpp
@@ -48,6 +48,7 @@ void VoxelNode::init(unsigned char * octalCode) {
     _subtreeLeafNodeCount = 0; // that's me
     
     _glBufferIndex = GLBUFFER_INDEX_UNKNOWN;
+    _voxelSystem = NULL;
     _isDirty = true;
     _shouldRender = false;
     markWithChangedTime();
@@ -399,43 +400,23 @@ float VoxelNode::distanceToPoint(const glm::vec3& point) const {
     return distance;
 }
 
-VoxelNodeDeleteHook VoxelNode::_hooks[VOXEL_NODE_MAX_DELETE_HOOKS];
-void* VoxelNode::_hooksExtraData[VOXEL_NODE_MAX_DELETE_HOOKS];
-int VoxelNode::_hooksInUse = 0;
+std::vector<VoxelNodeDeleteHook*> VoxelNode::_hooks;
 
-int VoxelNode::addDeleteHook(VoxelNodeDeleteHook hook, void* extraData) {
-    // If first use, initialize the _hooks array
-    if (_hooksInUse == 0) {
-        memset(_hooks, 0, sizeof(_hooks));
-        memset(_hooksExtraData, 0, sizeof(_hooksExtraData));
-    }
-    // find first available slot
-    for (int i = 0; i < VOXEL_NODE_MAX_DELETE_HOOKS; i++) {
-        if (!_hooks[i]) {
-            _hooks[i] = hook;
-            _hooksExtraData[i] = extraData;
-            _hooksInUse++;
-            return i;
-        }
-    }
-    // if we got here, then we're out of room in our hooks, return error
-    return VOXEL_NODE_NO_MORE_HOOKS_AVAILABLE;
+void VoxelNode::addDeleteHook(VoxelNodeDeleteHook* hook) {
+    _hooks.push_back(hook);
 }
 
-void VoxelNode::removeDeleteHook(int hookID) {
-    if (_hooks[hookID]) {
-        _hooks[hookID] = NULL;
-        _hooksExtraData[hookID] = NULL;
-        _hooksInUse--;
+void VoxelNode::removeDeleteHook(VoxelNodeDeleteHook* hook) {
+    for (int i = 0; i < _hooks.size(); i++) {
+        if (_hooks[i] == hook) {
+            _hooks.erase(_hooks.begin() + i);
+            return;
+        }
     }
 }
 
 void VoxelNode::notifyDeleteHooks() {
-    if (_hooksInUse > 0) {
-        for (int i = 0; i < VOXEL_NODE_MAX_DELETE_HOOKS; i++) {
-            if (_hooks[i]) {
-                _hooks[i](this, _hooksExtraData[i]);
-            }
-        }
+    for (int i = 0; i < _hooks.size(); i++) {
+        _hooks[i]->nodeDeleted(this);
     }
 }
diff --git a/libraries/voxels/src/VoxelNode.h b/libraries/voxels/src/VoxelNode.h
index 1efab362de..38e9627848 100644
--- a/libraries/voxels/src/VoxelNode.h
+++ b/libraries/voxels/src/VoxelNode.h
@@ -14,18 +14,19 @@
 #include "ViewFrustum.h"
 #include "VoxelConstants.h"
 
-class VoxelTree; // forward delclaration
-class VoxelNode; // forward delclaration
+class VoxelTree; // forward declaration
+class VoxelNode; // forward declaration
+class VoxelSystem; // forward declaration
 
 typedef unsigned char colorPart;
 typedef unsigned char nodeColor[4];
 typedef unsigned char rgbColor[3];
 
-// Callback function, for delete hook
-typedef void (*VoxelNodeDeleteHook)(VoxelNode* node, void* extraData);
-const int VOXEL_NODE_MAX_DELETE_HOOKS = 100;
-const int VOXEL_NODE_NO_MORE_HOOKS_AVAILABLE = -1;
-
+// Callers who want delete hook callbacks should implement this class
+class VoxelNodeDeleteHook {
+public:
+    virtual void nodeDeleted(VoxelNode* node) = 0;
+};
 
 class VoxelNode {
 public:
@@ -77,6 +78,9 @@ public:
     glBufferIndex getBufferIndex() const { return _glBufferIndex; };
     bool isKnownBufferIndex() const { return (_glBufferIndex != GLBUFFER_INDEX_UNKNOWN); };
     void setBufferIndex(glBufferIndex index) { _glBufferIndex = index; };
+    VoxelSystem* getVoxelSystem() const { return _voxelSystem; };
+    void setVoxelSystem(VoxelSystem* voxelSystem) { _voxelSystem = voxelSystem; };
+    
 
     // Used by VoxelSystem for rendering in/out of view and LOD
     void setShouldRender(bool shouldRender);
@@ -101,8 +105,8 @@ public:
     const nodeColor& getColor() const { return _trueColor; };
 #endif
 
-    static int  addDeleteHook(VoxelNodeDeleteHook hook, void* extraData = NULL);
-    static void removeDeleteHook(int hookID);
+    static void addDeleteHook(VoxelNodeDeleteHook* hook);
+    static void removeDeleteHook(VoxelNodeDeleteHook* hook);
     
     void recalculateSubTreeNodeCount();
     unsigned long getSubTreeNodeCount()         const { return _subtreeNodeCount; };
@@ -120,6 +124,7 @@ private:
     bool      _falseColored;
 #endif
     glBufferIndex   _glBufferIndex;
+    VoxelSystem*    _voxelSystem;
     bool            _isDirty;
     uint64_t        _lastChanged;
     bool            _shouldRender;
@@ -130,10 +135,8 @@ private:
     unsigned long   _subtreeNodeCount;
     unsigned long   _subtreeLeafNodeCount;
     float           _density;       // If leaf: density = 1, if internal node: 0-1 density of voxels inside
-    
-    static VoxelNodeDeleteHook  _hooks[VOXEL_NODE_MAX_DELETE_HOOKS];
-    static void*                _hooksExtraData[VOXEL_NODE_MAX_DELETE_HOOKS];
-    static int                  _hooksInUse;
+
+    static std::vector<VoxelNodeDeleteHook*> _hooks;
 };
 
 #endif /* defined(__hifi__VoxelNode__) */
diff --git a/libraries/voxels/src/VoxelNodeBag.cpp b/libraries/voxels/src/VoxelNodeBag.cpp
index 713f4de1dd..6b69edd32c 100644
--- a/libraries/voxels/src/VoxelNodeBag.cpp
+++ b/libraries/voxels/src/VoxelNodeBag.cpp
@@ -13,11 +13,11 @@ VoxelNodeBag::VoxelNodeBag() :
     _bagElements(NULL),
     _elementsInUse(0),
     _sizeOfElementsArray(0) {
-    _hookID = VoxelNode::addDeleteHook(voxelNodeDeleteHook, this);
+    VoxelNode::addDeleteHook(this);
 };
 
 VoxelNodeBag::~VoxelNodeBag() {
-    VoxelNode::removeDeleteHook(_hookID);
+    VoxelNode::removeDeleteHook(this);
     deleteAll();
 }
 
@@ -125,9 +125,10 @@ void VoxelNodeBag::remove(VoxelNode* node) {
         _elementsInUse--;
     }
 }
-void VoxelNodeBag::voxelNodeDeleteHook(VoxelNode* node, void* extraData) {
-    VoxelNodeBag* theBag = (VoxelNodeBag*)extraData;
-    theBag->remove(node); // note: remove can safely handle nodes that aren't in it, so we don't need to check contains()
+
+
+void VoxelNodeBag::nodeDeleted(VoxelNode* node) {
+    remove(node); // note: remove can safely handle nodes that aren't in it, so we don't need to check contains()
 }
 
 
diff --git a/libraries/voxels/src/VoxelNodeBag.h b/libraries/voxels/src/VoxelNodeBag.h
index 27bd4e5b60..a29e7678c9 100644
--- a/libraries/voxels/src/VoxelNodeBag.h
+++ b/libraries/voxels/src/VoxelNodeBag.h
@@ -16,7 +16,7 @@
 
 #include "VoxelNode.h"
 
-class VoxelNodeBag {
+class VoxelNodeBag : public VoxelNodeDeleteHook {
 
 public:
     VoxelNodeBag();
@@ -34,6 +34,8 @@ public:
 
     static void voxelNodeDeleteHook(VoxelNode* node, void* extraData);
 
+    virtual void nodeDeleted(VoxelNode* node);
+
 private:
     
     VoxelNode** _bagElements;

From de52342a142cb90e74d786f9deef04b51d6d4094 Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Mon, 29 Jul 2013 16:04:15 -0700
Subject: [PATCH 19/27] Working on depth data processing.

---
 interface/src/Webcam.cpp | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/interface/src/Webcam.cpp b/interface/src/Webcam.cpp
index 814081301b..8d90cd1255 100644
--- a/interface/src/Webcam.cpp
+++ b/interface/src/Webcam.cpp
@@ -596,10 +596,14 @@ void FrameGrabber::grabFrame() {
         _faceDepth.create(ENCODED_FACE_WIDTH, ENCODED_FACE_HEIGHT, CV_8UC1);
         warpAffine(_grayDepthFrame, _faceDepth, transform, _faceDepth.size());
         
-        uchar* dest = (uchar*)_encodedFace.data() + vpxImage.stride[0] * ENCODED_FACE_HEIGHT;
+        uchar* dline = (uchar*)_encodedFace.data() + vpxImage.stride[0] * ENCODED_FACE_HEIGHT;
+        uchar* src = _faceDepth.ptr();
         for (int i = 0; i < ENCODED_FACE_HEIGHT; i++) {
-            memcpy(dest, _faceDepth.ptr(i), ENCODED_FACE_WIDTH);
-            dest += vpxImage.stride[0];
+            uchar* dest = dline;
+            for (int j = 0; j < ENCODED_FACE_WIDTH; j++) {
+                *dest++ = *src++;    
+            }
+            dline += vpxImage.stride[0];
         }
     }
     

From 4ae4623315784053a5e6dbffb29365e10891b852 Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Mon, 29 Jul 2013 16:12:11 -0700
Subject: [PATCH 20/27] These casts should fix the warnings on OS X.

---
 libraries/shared/src/PerfStat.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/shared/src/PerfStat.cpp b/libraries/shared/src/PerfStat.cpp
index 70bcaba009..dde460dbb0 100644
--- a/libraries/shared/src/PerfStat.cpp
+++ b/libraries/shared/src/PerfStat.cpp
@@ -61,8 +61,8 @@ PerfStat::~PerfStat() {
 	if (wantDebugOut) {	
 		qDebug("PerfStats: %s elapsed:%f average:%lf count:%ld total:%lf ut:%ld us:%ld ue:%ld t:%ld s:%ld e:%ld\n",
                this->group.c_str(),elapsed,average,count,totalTime,
-               (end.tv_usec-start.tv_usec),start.tv_usec,end.tv_usec,
-               (end.tv_sec-start.tv_sec),start.tv_sec,end.tv_sec
+               (long)(end.tv_usec-start.tv_usec), (long)start.tv_usec, (long)end.tv_usec,
+               (long)(end.tv_sec-start.tv_sec), (long)start.tv_sec, (long)end.tv_sec
         );
 	}
 };

From 9c0e29b5e64deeaca53a361de06a1b10c18745e3 Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Mon, 29 Jul 2013 18:16:10 -0700
Subject: [PATCH 21/27] Use only valid values to compute mean, and use the
 post-warp data to avoid breaking on head tilt (because we were using the
 bounds of the rotated rect, which included too much background).

---
 interface/src/Webcam.cpp | 62 ++++++++++++++++++++++++++--------------
 1 file changed, 41 insertions(+), 21 deletions(-)

diff --git a/interface/src/Webcam.cpp b/interface/src/Webcam.cpp
index 8d90cd1255..a28bf87d10 100644
--- a/interface/src/Webcam.cpp
+++ b/interface/src/Webcam.cpp
@@ -480,19 +480,6 @@ void FrameGrabber::grabFrame() {
         _searchWindow = Rect(clip(faceBounds.tl(), imageBounds), clip(faceBounds.br(), imageBounds));
     }
 
-#ifdef HAVE_OPENNI
-    if (_depthGenerator.IsValid()) {
-        // convert from 11 to 8 bits, centered about the mean face depth (if possible)
-        if (_searchWindow.area() > 0) {
-            const double DEPTH_OFFSET_SMOOTHING = 0.95;
-            const double EIGHT_BIT_MIDPOINT = 128.0;
-            double meanOffset = EIGHT_BIT_MIDPOINT - mean(depth(_searchWindow))[0];
-            _depthOffset = (_depthOffset == 0.0) ? meanOffset : glm::mix(meanOffset, _depthOffset, DEPTH_OFFSET_SMOOTHING);
-        }
-        depth.convertTo(_grayDepthFrame, CV_8UC1, 1.0, _depthOffset);
-    }
-#endif
-
     const int ENCODED_FACE_WIDTH = 128;
     const int ENCODED_FACE_HEIGHT = 128;
     int combinedFaceHeight = ENCODED_FACE_HEIGHT * (depth.empty() ? 1 : 2);
@@ -591,19 +578,52 @@ void FrameGrabber::grabFrame() {
         uline += vpxImage.stride[2];
     }
     
-    // if we have depth data, warp that and just copy it in
     if (!depth.empty()) {
-        _faceDepth.create(ENCODED_FACE_WIDTH, ENCODED_FACE_HEIGHT, CV_8UC1);
-        warpAffine(_grayDepthFrame, _faceDepth, transform, _faceDepth.size());
+        // warp the face depth without interpolation (because it will contain invalid zero values)
+        _faceDepth.create(ENCODED_FACE_WIDTH, ENCODED_FACE_HEIGHT, CV_16UC1);
+        warpAffine(depth, _faceDepth, transform, _faceDepth.size(), INTER_NEAREST);
         
-        uchar* dline = (uchar*)_encodedFace.data() + vpxImage.stride[0] * ENCODED_FACE_HEIGHT;
-        uchar* src = _faceDepth.ptr();
+        // find the mean of the valid values
+        qint64 depthTotal = 0;
+        qint64 depthSamples = 0;
+        ushort* src = _faceDepth.ptr<ushort>();
         for (int i = 0; i < ENCODED_FACE_HEIGHT; i++) {
-            uchar* dest = dline;
             for (int j = 0; j < ENCODED_FACE_WIDTH; j++) {
-                *dest++ = *src++;    
+                ushort depth = *src++;
+                if (depth != 0) {
+                    depthTotal += depth;
+                    depthSamples++;
+                }
             }
-            dline += vpxImage.stride[0];
+        }
+        double mean = (depthSamples == 0) ? 0.0 : depthTotal / (double)depthSamples;
+        
+        // update the depth offset based on the mean
+        const double DEPTH_OFFSET_SMOOTHING = 0.95;
+        const double EIGHT_BIT_MIDPOINT = 128.0;
+        double meanOffset = EIGHT_BIT_MIDPOINT - mean;
+        _depthOffset = (_depthOffset == 0.0) ? meanOffset : glm::mix(meanOffset, _depthOffset, DEPTH_OFFSET_SMOOTHING);
+
+        // convert from 11 to 8 bits for preview/local display
+        depth.convertTo(_grayDepthFrame, CV_8UC1, 1.0, _depthOffset);
+
+        // likewise for the encoded representation
+        uchar* yline = (uchar*)_encodedFace.data() + vpxImage.stride[0] * ENCODED_FACE_HEIGHT;
+        src = _faceDepth.ptr<ushort>();
+        const char UNKNOWN_DEPTH = 0;
+        const char MAXIMUM_DEPTH = 255;
+        for (int i = 0; i < ENCODED_FACE_HEIGHT; i++) {
+            uchar* ydest = yline;
+            for (int j = 0; j < ENCODED_FACE_WIDTH; j++) {
+                ushort depth = *src++;
+                if (depth == UNKNOWN_DEPTH) {
+                    *ydest++ = MAXIMUM_DEPTH;
+                    
+                } else {
+                    *ydest++ = saturate_cast<uchar>(depth + _depthOffset);
+                }
+            }
+            yline += vpxImage.stride[0];
         }
     }
     

From 3b4a4daec37cc213a81cfa38c50434808e5b186c Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Mon, 29 Jul 2013 18:26:51 -0700
Subject: [PATCH 22/27] Ignore maximum values when computing the depth.

---
 interface/src/Webcam.cpp | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/interface/src/Webcam.cpp b/interface/src/Webcam.cpp
index a28bf87d10..2efb12aed2 100644
--- a/interface/src/Webcam.cpp
+++ b/interface/src/Webcam.cpp
@@ -587,10 +587,12 @@ void FrameGrabber::grabFrame() {
         qint64 depthTotal = 0;
         qint64 depthSamples = 0;
         ushort* src = _faceDepth.ptr<ushort>();
+        const ushort ELEVEN_BIT_MINIMUM = 0;
+        const ushort ELEVEN_BIT_MAXIMUM = 2047;
         for (int i = 0; i < ENCODED_FACE_HEIGHT; i++) {
             for (int j = 0; j < ENCODED_FACE_WIDTH; j++) {
                 ushort depth = *src++;
-                if (depth != 0) {
+                if (depth != ELEVEN_BIT_MINIMUM && depth != ELEVEN_BIT_MAXIMUM) {
                     depthTotal += depth;
                     depthSamples++;
                 }
@@ -610,14 +612,13 @@ void FrameGrabber::grabFrame() {
         // likewise for the encoded representation
         uchar* yline = (uchar*)_encodedFace.data() + vpxImage.stride[0] * ENCODED_FACE_HEIGHT;
         src = _faceDepth.ptr<ushort>();
-        const char UNKNOWN_DEPTH = 0;
-        const char MAXIMUM_DEPTH = 255;
+        const char EIGHT_BIT_MAXIMUM = 255;
         for (int i = 0; i < ENCODED_FACE_HEIGHT; i++) {
             uchar* ydest = yline;
             for (int j = 0; j < ENCODED_FACE_WIDTH; j++) {
                 ushort depth = *src++;
-                if (depth == UNKNOWN_DEPTH) {
-                    *ydest++ = MAXIMUM_DEPTH;
+                if (depth == ELEVEN_BIT_MINIMUM) {
+                    *ydest++ = EIGHT_BIT_MAXIMUM;
                     
                 } else {
                     *ydest++ = saturate_cast<uchar>(depth + _depthOffset);

From 3c437076a7e5d30c60b9c01c5337fee164e3a387 Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Tue, 30 Jul 2013 11:07:33 -0700
Subject: [PATCH 23/27] When we have a mean face depth, use that rather than
 the face size to estimate the z coordinate.

---
 interface/src/Webcam.cpp | 47 +++++++++++++++++++++++++---------------
 interface/src/Webcam.h   |  5 +++--
 2 files changed, 32 insertions(+), 20 deletions(-)

diff --git a/interface/src/Webcam.cpp b/interface/src/Webcam.cpp
index 2efb12aed2..84654b8f96 100644
--- a/interface/src/Webcam.cpp
+++ b/interface/src/Webcam.cpp
@@ -57,8 +57,11 @@ void Webcam::setEnabled(bool enabled) {
     }
 }
 
+const float UNINITIALIZED_FACE_DEPTH = 0.0f;
+
 void Webcam::reset() {
     _initialFaceRect = RotatedRect();
+    _initialFaceDepth = UNINITIALIZED_FACE_DEPTH;
     
     if (_enabled) {
         // send a message to the grabber
@@ -149,7 +152,8 @@ Webcam::~Webcam() {
     delete _grabber;
 }
 
-void Webcam::setFrame(const Mat& color, int format, const Mat& depth, const RotatedRect& faceRect, const JointVector& joints) {
+void Webcam::setFrame(const Mat& color, int format, const Mat& depth, float meanFaceDepth,
+        const RotatedRect& faceRect, const JointVector& joints) {
     IplImage colorImage = color;
     glPixelStorei(GL_UNPACK_ROW_LENGTH, colorImage.widthStep / 3);
     if (_colorTextureID == 0) {
@@ -232,22 +236,28 @@ void Webcam::setFrame(const Mat& color, int format, const Mat& depth, const Rota
         const float ROTATION_SMOOTHING = 0.95f;
         _estimatedRotation.z = glm::mix(_faceRect.angle, _estimatedRotation.z, ROTATION_SMOOTHING);
         
-        // determine position based on translation and scaling of the face rect
+        // determine position based on translation and scaling of the face rect/mean face depth
         if (_initialFaceRect.size.area() == 0) {
             _initialFaceRect = _faceRect;
             _estimatedPosition = glm::vec3();
+            _initialFaceDepth = meanFaceDepth;
         
         } else {
-            float proportion = sqrtf(_initialFaceRect.size.area() / (float)_faceRect.size.area());
-            const float DISTANCE_TO_CAMERA = 0.333f;
+            float proportion, z;
+            if (meanFaceDepth == UNINITIALIZED_FACE_DEPTH) {
+                proportion = sqrtf(_initialFaceRect.size.area() / (float)_faceRect.size.area());
+                const float INITIAL_DISTANCE_TO_CAMERA = 0.333f;
+                z = INITIAL_DISTANCE_TO_CAMERA * proportion - INITIAL_DISTANCE_TO_CAMERA;           
+                   
+            } else {
+                z = (meanFaceDepth - _initialFaceDepth) / 1000.0f;    
+                proportion = meanFaceDepth / _initialFaceDepth;
+            }
             const float POSITION_SCALE = 0.5f;
-            float z = DISTANCE_TO_CAMERA * proportion - DISTANCE_TO_CAMERA;
-            glm::vec3 position = glm::vec3(
+            _estimatedPosition = glm::vec3(
                 (_faceRect.center.x - _initialFaceRect.center.x) * proportion * POSITION_SCALE / _textureSize.width,
                 (_faceRect.center.y - _initialFaceRect.center.y) * proportion * POSITION_SCALE / _textureSize.width,
                 z);
-            const float POSITION_SMOOTHING = 0.95f;
-            _estimatedPosition = glm::mix(position, _estimatedPosition, POSITION_SMOOTHING);
         }
     }
     
@@ -259,7 +269,7 @@ void Webcam::setFrame(const Mat& color, int format, const Mat& depth, const Rota
 }
 
 FrameGrabber::FrameGrabber() : _initialized(false), _capture(0), _searchWindow(0, 0, 0, 0),
-    _depthOffset(0.0), _codec(), _frameCount(0) {
+    _smoothedMeanFaceDepth(UNINITIALIZED_FACE_DEPTH), _codec(), _frameCount(0) {
 }
 
 FrameGrabber::~FrameGrabber() {
@@ -598,16 +608,17 @@ void FrameGrabber::grabFrame() {
                 }
             }
         }
-        double mean = (depthSamples == 0) ? 0.0 : depthTotal / (double)depthSamples;
+        float mean = (depthSamples == 0) ? UNINITIALIZED_FACE_DEPTH : depthTotal / (float)depthSamples;
         
-        // update the depth offset based on the mean
-        const double DEPTH_OFFSET_SMOOTHING = 0.95;
-        const double EIGHT_BIT_MIDPOINT = 128.0;
-        double meanOffset = EIGHT_BIT_MIDPOINT - mean;
-        _depthOffset = (_depthOffset == 0.0) ? meanOffset : glm::mix(meanOffset, _depthOffset, DEPTH_OFFSET_SMOOTHING);
+        // smooth the mean over time
+        const float DEPTH_OFFSET_SMOOTHING = 0.95f;
+        _smoothedMeanFaceDepth = (_smoothedMeanFaceDepth == UNINITIALIZED_FACE_DEPTH) ? mean :
+            glm::mix(mean, _smoothedMeanFaceDepth, DEPTH_OFFSET_SMOOTHING);
 
         // convert from 11 to 8 bits for preview/local display
-        depth.convertTo(_grayDepthFrame, CV_8UC1, 1.0, _depthOffset);
+        const double EIGHT_BIT_MIDPOINT = 128.0;
+        double depthOffset = EIGHT_BIT_MIDPOINT - _smoothedMeanFaceDepth;
+        depth.convertTo(_grayDepthFrame, CV_8UC1, 1.0, depthOffset);
 
         // likewise for the encoded representation
         uchar* yline = (uchar*)_encodedFace.data() + vpxImage.stride[0] * ENCODED_FACE_HEIGHT;
@@ -621,7 +632,7 @@ void FrameGrabber::grabFrame() {
                     *ydest++ = EIGHT_BIT_MAXIMUM;
                     
                 } else {
-                    *ydest++ = saturate_cast<uchar>(depth + _depthOffset);
+                    *ydest++ = saturate_cast<uchar>(depth + depthOffset);
                 }
             }
             yline += vpxImage.stride[0];
@@ -646,7 +657,7 @@ void FrameGrabber::grabFrame() {
     }
 
     QMetaObject::invokeMethod(Application::getInstance()->getWebcam(), "setFrame",
-        Q_ARG(cv::Mat, color), Q_ARG(int, format), Q_ARG(cv::Mat, _grayDepthFrame),
+        Q_ARG(cv::Mat, color), Q_ARG(int, format), Q_ARG(cv::Mat, _grayDepthFrame), Q_ARG(float, _smoothedMeanFaceDepth),
         Q_ARG(cv::RotatedRect, _smoothedFaceRect), Q_ARG(JointVector, joints));
 }
 
diff --git a/interface/src/Webcam.h b/interface/src/Webcam.h
index 260eda0897..16cf3a33a1 100644
--- a/interface/src/Webcam.h
+++ b/interface/src/Webcam.h
@@ -62,7 +62,7 @@ public:
 public slots:
     
     void setEnabled(bool enabled);
-    void setFrame(const cv::Mat& color, int format, const cv::Mat& depth,
+    void setFrame(const cv::Mat& color, int format, const cv::Mat& depth, float meanFaceDepth,
         const cv::RotatedRect& faceRect, const JointVector& joints);
 
 private:
@@ -77,6 +77,7 @@ private:
     cv::Size2f _textureSize;
     cv::RotatedRect _faceRect;
     cv::RotatedRect _initialFaceRect;
+    float _initialFaceDepth;
     JointVector _joints;
     
     uint64_t _startTimestamp;
@@ -117,7 +118,7 @@ private:
     cv::Mat _backProject;
     cv::Rect _searchWindow;
     cv::Mat _grayDepthFrame;
-    double _depthOffset;
+    float _smoothedMeanFaceDepth;
     
     vpx_codec_ctx_t _codec;
     int _frameCount;

From f8ba1c4be12599a42553ab8d2dc7a99e9db57bce Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Tue, 30 Jul 2013 13:42:29 -0700
Subject: [PATCH 24/27] Use the V channel to provide masking information,
 indicating invalid depths.

---
 interface/src/Webcam.cpp      | 43 ++++++++++++++++++++++-------------
 interface/src/avatar/Face.cpp | 29 +++++++++++++++++++----
 2 files changed, 52 insertions(+), 20 deletions(-)

diff --git a/interface/src/Webcam.cpp b/interface/src/Webcam.cpp
index 84654b8f96..b73537f6ae 100644
--- a/interface/src/Webcam.cpp
+++ b/interface/src/Webcam.cpp
@@ -569,9 +569,9 @@ void FrameGrabber::grabFrame() {
             
             ydest[0] = (tl[redIndex] * Y_RED_WEIGHT + tl[1] * Y_GREEN_WEIGHT + tl[blueIndex] * Y_BLUE_WEIGHT) >> 8;
             ydest[1] = (tr[redIndex] * Y_RED_WEIGHT + tr[1] * Y_GREEN_WEIGHT + tr[blueIndex] * Y_BLUE_WEIGHT) >> 8;
-            ydest[ENCODED_FACE_WIDTH] = (bl[redIndex] * Y_RED_WEIGHT + bl[greenIndex] *
+            ydest[vpxImage.stride[0]] = (bl[redIndex] * Y_RED_WEIGHT + bl[greenIndex] *
                 Y_GREEN_WEIGHT + bl[blueIndex] * Y_BLUE_WEIGHT) >> 8;
-            ydest[ENCODED_FACE_WIDTH + 1] = (br[redIndex] * Y_RED_WEIGHT + br[greenIndex] *
+            ydest[vpxImage.stride[0] + 1] = (br[redIndex] * Y_RED_WEIGHT + br[greenIndex] *
                 Y_GREEN_WEIGHT + br[blueIndex] * Y_BLUE_WEIGHT) >> 8;
             ydest += 2;
             
@@ -616,26 +616,37 @@ void FrameGrabber::grabFrame() {
             glm::mix(mean, _smoothedMeanFaceDepth, DEPTH_OFFSET_SMOOTHING);
 
         // convert from 11 to 8 bits for preview/local display
-        const double EIGHT_BIT_MIDPOINT = 128.0;
+        const uchar EIGHT_BIT_MIDPOINT = 128;
         double depthOffset = EIGHT_BIT_MIDPOINT - _smoothedMeanFaceDepth;
         depth.convertTo(_grayDepthFrame, CV_8UC1, 1.0, depthOffset);
 
         // likewise for the encoded representation
-        uchar* yline = (uchar*)_encodedFace.data() + vpxImage.stride[0] * ENCODED_FACE_HEIGHT;
-        src = _faceDepth.ptr<ushort>();
-        const char EIGHT_BIT_MAXIMUM = 255;
-        for (int i = 0; i < ENCODED_FACE_HEIGHT; i++) {
+        uchar* yline = vpxImage.planes[0] + vpxImage.stride[0] * ENCODED_FACE_HEIGHT;
+        uchar* vline = vpxImage.planes[1] + vpxImage.stride[1] * (ENCODED_FACE_HEIGHT / 2);
+        const uchar EIGHT_BIT_MAXIMUM = 255;
+        for (int i = 0; i < ENCODED_FACE_HEIGHT; i += 2) {
             uchar* ydest = yline;
-            for (int j = 0; j < ENCODED_FACE_WIDTH; j++) {
-                ushort depth = *src++;
-                if (depth == ELEVEN_BIT_MINIMUM) {
-                    *ydest++ = EIGHT_BIT_MAXIMUM;
-                    
-                } else {
-                    *ydest++ = saturate_cast<uchar>(depth + depthOffset);
-                }
+            uchar* vdest = vline;
+            for (int j = 0; j < ENCODED_FACE_WIDTH; j += 2) {
+                ushort tl = *_faceDepth.ptr<ushort>(i, j);
+                ushort tr = *_faceDepth.ptr<ushort>(i, j + 1);
+                ushort bl = *_faceDepth.ptr<ushort>(i + 1, j);
+                ushort br = *_faceDepth.ptr<ushort>(i + 1, j + 1);
+            
+                uchar mask = EIGHT_BIT_MIDPOINT;
+                
+                ydest[0] = (tl == ELEVEN_BIT_MINIMUM) ? (mask = EIGHT_BIT_MAXIMUM) : saturate_cast<uchar>(tl + depthOffset);
+                ydest[1] = (tr == ELEVEN_BIT_MINIMUM) ? (mask = EIGHT_BIT_MAXIMUM) : saturate_cast<uchar>(tr + depthOffset);
+                ydest[vpxImage.stride[0]] = (bl == ELEVEN_BIT_MINIMUM) ?
+                    (mask = EIGHT_BIT_MAXIMUM) : saturate_cast<uchar>(bl + depthOffset);
+                ydest[vpxImage.stride[0] + 1] = (br == ELEVEN_BIT_MINIMUM) ?
+                    (mask = EIGHT_BIT_MAXIMUM) : saturate_cast<uchar>(br + depthOffset);
+                ydest += 2;
+            
+                *vdest++ = mask;
             }
-            yline += vpxImage.stride[0];
+            yline += vpxImage.stride[0] * 2;
+            vline += vpxImage.stride[1];
         }
     }
     
diff --git a/interface/src/avatar/Face.cpp b/interface/src/avatar/Face.cpp
index d8a8d6c2a6..5d6c4984bd 100644
--- a/interface/src/avatar/Face.cpp
+++ b/interface/src/avatar/Face.cpp
@@ -147,10 +147,31 @@ int Face::processVideoMessage(unsigned char* packetData, size_t dataBytes) {
             if (image->d_h > imageHeight) {
                 // if the height is greater than the width, we have depth data
                 depth.create(imageHeight, image->d_w, CV_8UC1);
-                uchar* src = image->planes[0] + image->stride[0] * imageHeight;
-                for (int i = 0; i < imageHeight; i++) {
-                    memcpy(depth.ptr(i), src, image->d_w);
-                    src += image->stride[0];
+                uchar* yline = image->planes[0] + image->stride[0] * imageHeight;
+                uchar* vline = image->planes[1] + image->stride[1] * (imageHeight / 2);
+                const uchar EIGHT_BIT_MAXIMUM = 255;
+                const uchar MASK_THRESHOLD = 192;
+                for (int i = 0; i < imageHeight; i += 2) {
+                    uchar* ysrc = yline;
+                    uchar* vsrc = vline;
+                    for (int j = 0; j < image->d_w; j += 2) {
+                        
+                        if (*vsrc++ >= MASK_THRESHOLD) {
+                            *depth.ptr(i, j) = EIGHT_BIT_MAXIMUM;
+                            *depth.ptr(i, j + 1) = EIGHT_BIT_MAXIMUM;
+                            *depth.ptr(i + 1, j) = EIGHT_BIT_MAXIMUM;
+                            *depth.ptr(i + 1, j + 1) = EIGHT_BIT_MAXIMUM;
+                        
+                        } else {
+                            *depth.ptr(i, j) = ysrc[0];
+                            *depth.ptr(i, j + 1) = ysrc[1];
+                            *depth.ptr(i + 1, j) = ysrc[image->stride[0]];
+                            *depth.ptr(i + 1, j + 1) = ysrc[image->stride[0] + 1];
+                        }
+                        ysrc += 2;
+                    }
+                    yline += image->stride[0] * 2;
+                    vline += image->stride[1];
                 }
             }
             QMetaObject::invokeMethod(this, "setFrame", Q_ARG(cv::Mat, color),

From c787781efbc572442946d4f95da6ce375d9f63dc Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Tue, 30 Jul 2013 15:11:32 -0700
Subject: [PATCH 25/27] Send color and depth as separate streams (rather than
 one on top of the other) so that we can control their bitrates separately.

---
 interface/src/Webcam.cpp               | 88 +++++++++++++++---------
 interface/src/Webcam.h                 |  3 +-
 interface/src/avatar/Face.cpp          | 93 +++++++++++++++-----------
 interface/src/avatar/Face.h            |  3 +-
 libraries/shared/src/PacketHeaders.cpp |  7 +-
 5 files changed, 120 insertions(+), 74 deletions(-)

diff --git a/interface/src/Webcam.cpp b/interface/src/Webcam.cpp
index b73537f6ae..2a58d51dae 100644
--- a/interface/src/Webcam.cpp
+++ b/interface/src/Webcam.cpp
@@ -269,7 +269,7 @@ void Webcam::setFrame(const Mat& color, int format, const Mat& depth, float mean
 }
 
 FrameGrabber::FrameGrabber() : _initialized(false), _capture(0), _searchWindow(0, 0, 0, 0),
-    _smoothedMeanFaceDepth(UNINITIALIZED_FACE_DEPTH), _codec(), _frameCount(0) {
+    _smoothedMeanFaceDepth(UNINITIALIZED_FACE_DEPTH), _colorCodec(), _depthCodec(), _frameCount(0) {
 }
 
 FrameGrabber::~FrameGrabber() {
@@ -377,9 +377,13 @@ void FrameGrabber::shutdown() {
         cvReleaseCapture(&_capture);
         _capture = 0;
     }
-    if (_codec.name != 0) {
-        vpx_codec_destroy(&_codec);
-        _codec.name = 0;
+    if (_colorCodec.name != 0) {
+        vpx_codec_destroy(&_colorCodec);
+        _colorCodec.name = 0;
+    }
+    if (_depthCodec.name != 0) {
+        vpx_codec_destroy(&_depthCodec);
+        _depthCodec.name = 0;
     }
     _initialized = false;
     
@@ -492,17 +496,19 @@ void FrameGrabber::grabFrame() {
 
     const int ENCODED_FACE_WIDTH = 128;
     const int ENCODED_FACE_HEIGHT = 128;
-    int combinedFaceHeight = ENCODED_FACE_HEIGHT * (depth.empty() ? 1 : 2);
-    if (_codec.name == 0) {
-        // initialize encoder context
+    if (_colorCodec.name == 0) {
+        // initialize encoder context(s)
         vpx_codec_enc_cfg_t codecConfig;
         vpx_codec_enc_config_default(vpx_codec_vp8_cx(), &codecConfig, 0);
-        const int QUALITY_MULTIPLIER = 2;
-        codecConfig.rc_target_bitrate = QUALITY_MULTIPLIER * ENCODED_FACE_WIDTH * combinedFaceHeight *
+        codecConfig.rc_target_bitrate = ENCODED_FACE_WIDTH * ENCODED_FACE_HEIGHT *
             codecConfig.rc_target_bitrate / codecConfig.g_w / codecConfig.g_h;
         codecConfig.g_w = ENCODED_FACE_WIDTH;
-        codecConfig.g_h = combinedFaceHeight;
-        vpx_codec_enc_init(&_codec, vpx_codec_vp8_cx(), &codecConfig, 0); 
+        codecConfig.g_h = ENCODED_FACE_HEIGHT;
+        vpx_codec_enc_init(&_colorCodec, vpx_codec_vp8_cx(), &codecConfig, 0);
+        
+        if (!depth.empty()) {
+            vpx_codec_enc_init(&_depthCodec, vpx_codec_vp8_cx(), &codecConfig, 0);
+        }
     }
     
     // correct for 180 degree rotations
@@ -539,9 +545,9 @@ void FrameGrabber::grabFrame() {
     const int ENCODED_BITS_PER_VU = 2;
     const int ENCODED_BITS_PER_PIXEL = ENCODED_BITS_PER_Y + 2 * ENCODED_BITS_PER_VU;
     const int BITS_PER_BYTE = 8;
-    _encodedFace.fill(128, ENCODED_FACE_WIDTH * combinedFaceHeight * ENCODED_BITS_PER_PIXEL / BITS_PER_BYTE);
+    _encodedFace.resize(ENCODED_FACE_WIDTH * ENCODED_FACE_HEIGHT * ENCODED_BITS_PER_PIXEL / BITS_PER_BYTE);
     vpx_image_t vpxImage;
-    vpx_img_wrap(&vpxImage, VPX_IMG_FMT_YV12, ENCODED_FACE_WIDTH, combinedFaceHeight, 1, (unsigned char*)_encodedFace.data());
+    vpx_img_wrap(&vpxImage, VPX_IMG_FMT_YV12, ENCODED_FACE_WIDTH, ENCODED_FACE_HEIGHT, 1, (unsigned char*)_encodedFace.data());
     uchar* yline = vpxImage.planes[0];
     uchar* vline = vpxImage.planes[1];
     uchar* uline = vpxImage.planes[2];
@@ -588,6 +594,24 @@ void FrameGrabber::grabFrame() {
         uline += vpxImage.stride[2];
     }
     
+    // encode the frame
+    vpx_codec_encode(&_colorCodec, &vpxImage, ++_frameCount, 1, 0, VPX_DL_REALTIME);
+
+    // start the payload off with the aspect ratio
+    QByteArray payload(sizeof(float), 0);
+    *(float*)payload.data() = _smoothedFaceRect.size.width / _smoothedFaceRect.size.height;
+
+    // extract the encoded frame
+    vpx_codec_iter_t iterator = 0;
+    const vpx_codec_cx_pkt_t* packet;
+    while ((packet = vpx_codec_get_cx_data(&_colorCodec, &iterator)) != 0) {
+        if (packet->kind == VPX_CODEC_CX_FRAME_PKT) {
+            // prepend the length, which will indicate whether there's a depth frame too
+            payload.append((const char*)&packet->data.frame.sz, sizeof(packet->data.frame.sz));
+            payload.append((const char*)packet->data.frame.buf, packet->data.frame.sz);
+        }
+    }
+    
     if (!depth.empty()) {
         // warp the face depth without interpolation (because it will contain invalid zero values)
         _faceDepth.create(ENCODED_FACE_WIDTH, ENCODED_FACE_HEIGHT, CV_16UC1);
@@ -621,12 +645,14 @@ void FrameGrabber::grabFrame() {
         depth.convertTo(_grayDepthFrame, CV_8UC1, 1.0, depthOffset);
 
         // likewise for the encoded representation
-        uchar* yline = vpxImage.planes[0] + vpxImage.stride[0] * ENCODED_FACE_HEIGHT;
-        uchar* vline = vpxImage.planes[1] + vpxImage.stride[1] * (ENCODED_FACE_HEIGHT / 2);
+        uchar* yline = vpxImage.planes[0];
+        uchar* vline = vpxImage.planes[1];
+        uchar* uline = vpxImage.planes[2];
         const uchar EIGHT_BIT_MAXIMUM = 255;
         for (int i = 0; i < ENCODED_FACE_HEIGHT; i += 2) {
             uchar* ydest = yline;
             uchar* vdest = vline;
+            uchar* udest = uline;
             for (int j = 0; j < ENCODED_FACE_WIDTH; j += 2) {
                 ushort tl = *_faceDepth.ptr<ushort>(i, j);
                 ushort tr = *_faceDepth.ptr<ushort>(i, j + 1);
@@ -644,28 +670,28 @@ void FrameGrabber::grabFrame() {
                 ydest += 2;
             
                 *vdest++ = mask;
+                *udest++ = EIGHT_BIT_MIDPOINT;
             }
             yline += vpxImage.stride[0] * 2;
             vline += vpxImage.stride[1];
+            uline += vpxImage.stride[2];
+        }
+        
+        // encode the frame
+        vpx_codec_encode(&_depthCodec, &vpxImage, _frameCount, 1, 0, VPX_DL_REALTIME);
+
+        // extract the encoded frame
+        vpx_codec_iter_t iterator = 0;
+        const vpx_codec_cx_pkt_t* packet;
+        while ((packet = vpx_codec_get_cx_data(&_depthCodec, &iterator)) != 0) {
+            if (packet->kind == VPX_CODEC_CX_FRAME_PKT) {
+                payload.append((const char*)packet->data.frame.buf, packet->data.frame.sz);
+            }
         }
     }
     
-    // encode the frame
-    vpx_codec_encode(&_codec, &vpxImage, ++_frameCount, 1, 0, VPX_DL_REALTIME);
-
-    // extract the encoded frame
-    vpx_codec_iter_t iterator = 0;
-    const vpx_codec_cx_pkt_t* packet;
-    while ((packet = vpx_codec_get_cx_data(&_codec, &iterator)) != 0) {
-        if (packet->kind == VPX_CODEC_CX_FRAME_PKT) {
-            // prepend the aspect ratio
-            QByteArray payload(sizeof(float), 0);
-            *(float*)payload.data() = _smoothedFaceRect.size.width / _smoothedFaceRect.size.height;
-            payload.append((const char*)packet->data.frame.buf, packet->data.frame.sz);
-            QMetaObject::invokeMethod(Application::getInstance(), "sendAvatarFaceVideoMessage", Q_ARG(int, _frameCount),
-                Q_ARG(QByteArray, payload));
-        }
-    }
+    QMetaObject::invokeMethod(Application::getInstance(), "sendAvatarFaceVideoMessage",
+        Q_ARG(int, _frameCount), Q_ARG(QByteArray, payload));
 
     QMetaObject::invokeMethod(Application::getInstance()->getWebcam(), "setFrame",
         Q_ARG(cv::Mat, color), Q_ARG(int, format), Q_ARG(cv::Mat, _grayDepthFrame), Q_ARG(float, _smoothedMeanFaceDepth),
diff --git a/interface/src/Webcam.h b/interface/src/Webcam.h
index 16cf3a33a1..6c6d250897 100644
--- a/interface/src/Webcam.h
+++ b/interface/src/Webcam.h
@@ -120,7 +120,8 @@ private:
     cv::Mat _grayDepthFrame;
     float _smoothedMeanFaceDepth;
     
-    vpx_codec_ctx_t _codec;
+    vpx_codec_ctx_t _colorCodec;
+    vpx_codec_ctx_t _depthCodec;
     int _frameCount;
     cv::Mat _faceColor;
     cv::Mat _faceDepth;
diff --git a/interface/src/avatar/Face.cpp b/interface/src/avatar/Face.cpp
index 5d6c4984bd..f25426a5be 100644
--- a/interface/src/avatar/Face.cpp
+++ b/interface/src/avatar/Face.cpp
@@ -30,19 +30,25 @@ GLuint Face::_vboID;
 GLuint Face::_iboID;
 
 Face::Face(Head* owningHead) : _owningHead(owningHead), _renderMode(MESH),
-        _colorTextureID(0), _depthTextureID(0), _codec(), _frameCount(0) {
+        _colorTextureID(0), _depthTextureID(0), _colorCodec(), _depthCodec(), _frameCount(0) {
     // we may have been created in the network thread, but we live in the main thread
     moveToThread(Application::getInstance()->thread());
 }
 
 Face::~Face() {
-    if (_codec.name != 0) {
-        vpx_codec_destroy(&_codec);
+    if (_colorCodec.name != 0) {
+        vpx_codec_destroy(&_colorCodec);
         
-        // delete our textures, since we know that we own them
+        // delete our texture, since we know that we own it
         if (_colorTextureID != 0) {
             glDeleteTextures(1, &_colorTextureID);
         }
+        
+    }
+    if (_depthCodec.name != 0) {
+        vpx_codec_destroy(&_depthCodec);
+        
+        // delete our texture, since we know that we own it
         if (_depthTextureID != 0) {
             glDeleteTextures(1, &_depthTextureID);
         }
@@ -55,9 +61,9 @@ void Face::setTextureRect(const cv::RotatedRect& textureRect) {
 }
 
 int Face::processVideoMessage(unsigned char* packetData, size_t dataBytes) {
-    if (_codec.name == 0) {
+    if (_colorCodec.name == 0) {
         // initialize decoder context
-        vpx_codec_dec_init(&_codec, vpx_codec_vp8_dx(), 0, 0);
+        vpx_codec_dec_init(&_colorCodec, vpx_codec_vp8_dx(), 0, 0);
     }
     // skip the header
     unsigned char* packetPosition = packetData;
@@ -85,14 +91,14 @@ int Face::processVideoMessage(unsigned char* packetData, size_t dataBytes) {
     
     if ((_frameBytesRemaining -= payloadSize) <= 0) {
         float aspectRatio = *(const float*)_arrivingFrame.constData();
-        vpx_codec_decode(&_codec, (const uint8_t*)_arrivingFrame.constData() + sizeof(float),
-            _arrivingFrame.size() - sizeof(float), 0, 0);
+        size_t colorSize = *(const size_t*)(_arrivingFrame.constData() + sizeof(float));
+        const uint8_t* colorData = (const uint8_t*)(_arrivingFrame.constData() + sizeof(float) + sizeof(size_t));
+        vpx_codec_decode(&_colorCodec, colorData, colorSize, 0, 0);
         vpx_codec_iter_t iterator = 0;
         vpx_image_t* image;
-        while ((image = vpx_codec_get_frame(&_codec, &iterator)) != 0) {
+        while ((image = vpx_codec_get_frame(&_colorCodec, &iterator)) != 0) {
             // convert from YV12 to RGB
-            const int imageHeight = image->d_w;
-            Mat color(imageHeight, image->d_w, CV_8UC3);
+            Mat color(image->d_h, image->d_w, CV_8UC3);
             uchar* yline = image->planes[0];
             uchar* vline = image->planes[1];
             uchar* uline = image->planes[2];
@@ -100,7 +106,7 @@ int Face::processVideoMessage(unsigned char* packetData, size_t dataBytes) {
             const int GREEN_V_WEIGHT = (int)(0.714 * 256);
             const int GREEN_U_WEIGHT = (int)(0.344 * 256);
             const int BLUE_U_WEIGHT = (int)(1.773 * 256);
-            for (int i = 0; i < imageHeight; i += 2) {
+            for (int i = 0; i < image->d_h; i += 2) {
                 uchar* ysrc = yline;
                 uchar* vsrc = vline;
                 uchar* usrc = uline;
@@ -144,34 +150,45 @@ int Face::processVideoMessage(unsigned char* packetData, size_t dataBytes) {
                 uline += image->stride[2];
             }
             Mat depth;
-            if (image->d_h > imageHeight) {
-                // if the height is greater than the width, we have depth data
-                depth.create(imageHeight, image->d_w, CV_8UC1);
-                uchar* yline = image->planes[0] + image->stride[0] * imageHeight;
-                uchar* vline = image->planes[1] + image->stride[1] * (imageHeight / 2);
-                const uchar EIGHT_BIT_MAXIMUM = 255;
-                const uchar MASK_THRESHOLD = 192;
-                for (int i = 0; i < imageHeight; i += 2) {
-                    uchar* ysrc = yline;
-                    uchar* vsrc = vline;
-                    for (int j = 0; j < image->d_w; j += 2) {
-                        
-                        if (*vsrc++ >= MASK_THRESHOLD) {
-                            *depth.ptr(i, j) = EIGHT_BIT_MAXIMUM;
-                            *depth.ptr(i, j + 1) = EIGHT_BIT_MAXIMUM;
-                            *depth.ptr(i + 1, j) = EIGHT_BIT_MAXIMUM;
-                            *depth.ptr(i + 1, j + 1) = EIGHT_BIT_MAXIMUM;
-                        
-                        } else {
-                            *depth.ptr(i, j) = ysrc[0];
-                            *depth.ptr(i, j + 1) = ysrc[1];
-                            *depth.ptr(i + 1, j) = ysrc[image->stride[0]];
-                            *depth.ptr(i + 1, j + 1) = ysrc[image->stride[0] + 1];
+            
+            const uint8_t* depthData = colorData + colorSize;
+            int depthSize = _arrivingFrame.size() - ((const char*)depthData - _arrivingFrame.constData());
+            if (depthSize > 0) {
+                if (_depthCodec.name == 0) {
+                    // initialize decoder context
+                    vpx_codec_dec_init(&_depthCodec, vpx_codec_vp8_dx(), 0, 0);
+                }
+                vpx_codec_decode(&_depthCodec, depthData, depthSize, 0, 0);
+                vpx_codec_iter_t iterator = 0;
+                vpx_image_t* image;
+                while ((image = vpx_codec_get_frame(&_depthCodec, &iterator)) != 0) {
+                    depth.create(image->d_h, image->d_w, CV_8UC1);
+                    uchar* yline = image->planes[0];
+                    uchar* vline = image->planes[1];
+                    const uchar EIGHT_BIT_MAXIMUM = 255;
+                    const uchar MASK_THRESHOLD = 192;
+                    for (int i = 0; i < image->d_h; i += 2) {
+                        uchar* ysrc = yline;
+                        uchar* vsrc = vline;
+                        for (int j = 0; j < image->d_w; j += 2) {
+                            
+                            if (*vsrc++ >= MASK_THRESHOLD) {
+                                *depth.ptr(i, j) = EIGHT_BIT_MAXIMUM;
+                                *depth.ptr(i, j + 1) = EIGHT_BIT_MAXIMUM;
+                                *depth.ptr(i + 1, j) = EIGHT_BIT_MAXIMUM;
+                                *depth.ptr(i + 1, j + 1) = EIGHT_BIT_MAXIMUM;
+                            
+                            } else {
+                                *depth.ptr(i, j) = ysrc[0];
+                                *depth.ptr(i, j + 1) = ysrc[1];
+                                *depth.ptr(i + 1, j) = ysrc[image->stride[0]];
+                                *depth.ptr(i + 1, j + 1) = ysrc[image->stride[0] + 1];
+                            }
+                            ysrc += 2;
                         }
-                        ysrc += 2;
+                        yline += image->stride[0] * 2;
+                        vline += image->stride[1];
                     }
-                    yline += image->stride[0] * 2;
-                    vline += image->stride[1];
                 }
             }
             QMetaObject::invokeMethod(this, "setFrame", Q_ARG(cv::Mat, color),
diff --git a/interface/src/avatar/Face.h b/interface/src/avatar/Face.h
index 1f9d41a1b3..d4812fecfb 100644
--- a/interface/src/avatar/Face.h
+++ b/interface/src/avatar/Face.h
@@ -57,7 +57,8 @@ private:
     cv::RotatedRect _textureRect;
     float _aspectRatio;
     
-    vpx_codec_ctx_t _codec;
+    vpx_codec_ctx_t _colorCodec;
+    vpx_codec_ctx_t _depthCodec;
     
     QByteArray _arrivingFrame;
     int _frameCount;
diff --git a/libraries/shared/src/PacketHeaders.cpp b/libraries/shared/src/PacketHeaders.cpp
index 292c4bbc0a..2e7b95c7f7 100644
--- a/libraries/shared/src/PacketHeaders.cpp
+++ b/libraries/shared/src/PacketHeaders.cpp
@@ -18,14 +18,15 @@ PACKET_VERSION versionForPacketType(PACKET_TYPE type) {
         case PACKET_TYPE_MICROPHONE_AUDIO_NO_ECHO:
         case PACKET_TYPE_MICROPHONE_AUDIO_WITH_ECHO:
             return 1;
-            break;
 
         case PACKET_TYPE_HEAD_DATA:
             return 2;
-            break;
+        
+        case PACKET_TYPE_AVATAR_FACE_VIDEO:
+            return 1;
+            
         default:
             return 0;
-            break;
     }
 }
 

From 96bd7dbe25016b77c530a7e3d67c0ad2ac7500a9 Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Tue, 30 Jul 2013 15:30:34 -0700
Subject: [PATCH 26/27] Removed the magic from a number.

---
 interface/src/Webcam.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/interface/src/Webcam.cpp b/interface/src/Webcam.cpp
index 2a58d51dae..b39f11aa67 100644
--- a/interface/src/Webcam.cpp
+++ b/interface/src/Webcam.cpp
@@ -152,6 +152,8 @@ Webcam::~Webcam() {
     delete _grabber;
 }
 
+const float METERS_PER_MM = 1.0f / 1000.0f;
+
 void Webcam::setFrame(const Mat& color, int format, const Mat& depth, float meanFaceDepth,
         const RotatedRect& faceRect, const JointVector& joints) {
     IplImage colorImage = color;
@@ -250,7 +252,7 @@ void Webcam::setFrame(const Mat& color, int format, const Mat& depth, float mean
                 z = INITIAL_DISTANCE_TO_CAMERA * proportion - INITIAL_DISTANCE_TO_CAMERA;           
                    
             } else {
-                z = (meanFaceDepth - _initialFaceDepth) / 1000.0f;    
+                z = (meanFaceDepth - _initialFaceDepth) * METERS_PER_MM;    
                 proportion = meanFaceDepth / _initialFaceDepth;
             }
             const float POSITION_SCALE = 0.5f;
@@ -437,7 +439,6 @@ void FrameGrabber::grabFrame() {
                         _userID, (XnSkeletonJoint)parentJoint, parentOrientation);
                     rotation = glm::inverse(xnToGLM(parentOrientation.orientation)) * rotation;
                 }
-                const float METERS_PER_MM = 1.0f / 1000.0f;
                 joints[avatarJoint] = Joint(xnToGLM(transform.position.position, true) * METERS_PER_MM,
                     rotation, xnToGLM(projected));
             }

From 353d674ad95a34a6b515c827dce33d1d4b6b926a Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Tue, 30 Jul 2013 15:56:47 -0700
Subject: [PATCH 27/27] Masking tweak.

---
 interface/src/Webcam.cpp      | 12 +++++++-----
 interface/src/avatar/Face.cpp |  3 +--
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/interface/src/Webcam.cpp b/interface/src/Webcam.cpp
index b39f11aa67..d4fa015ba0 100644
--- a/interface/src/Webcam.cpp
+++ b/interface/src/Webcam.cpp
@@ -508,6 +508,8 @@ void FrameGrabber::grabFrame() {
         vpx_codec_enc_init(&_colorCodec, vpx_codec_vp8_cx(), &codecConfig, 0);
         
         if (!depth.empty()) {
+            int DEPTH_BITRATE_MULTIPLIER = 2;
+            codecConfig.rc_target_bitrate *= 2;
             vpx_codec_enc_init(&_depthCodec, vpx_codec_vp8_cx(), &codecConfig, 0);
         }
     }
@@ -660,14 +662,14 @@ void FrameGrabber::grabFrame() {
                 ushort bl = *_faceDepth.ptr<ushort>(i + 1, j);
                 ushort br = *_faceDepth.ptr<ushort>(i + 1, j + 1);
             
-                uchar mask = EIGHT_BIT_MIDPOINT;
+                uchar mask = EIGHT_BIT_MAXIMUM;
                 
-                ydest[0] = (tl == ELEVEN_BIT_MINIMUM) ? (mask = EIGHT_BIT_MAXIMUM) : saturate_cast<uchar>(tl + depthOffset);
-                ydest[1] = (tr == ELEVEN_BIT_MINIMUM) ? (mask = EIGHT_BIT_MAXIMUM) : saturate_cast<uchar>(tr + depthOffset);
+                ydest[0] = (tl == ELEVEN_BIT_MINIMUM) ? (mask = EIGHT_BIT_MIDPOINT) : saturate_cast<uchar>(tl + depthOffset);
+                ydest[1] = (tr == ELEVEN_BIT_MINIMUM) ? (mask = EIGHT_BIT_MIDPOINT) : saturate_cast<uchar>(tr + depthOffset);
                 ydest[vpxImage.stride[0]] = (bl == ELEVEN_BIT_MINIMUM) ?
-                    (mask = EIGHT_BIT_MAXIMUM) : saturate_cast<uchar>(bl + depthOffset);
+                    (mask = EIGHT_BIT_MIDPOINT) : saturate_cast<uchar>(bl + depthOffset);
                 ydest[vpxImage.stride[0] + 1] = (br == ELEVEN_BIT_MINIMUM) ?
-                    (mask = EIGHT_BIT_MAXIMUM) : saturate_cast<uchar>(br + depthOffset);
+                    (mask = EIGHT_BIT_MIDPOINT) : saturate_cast<uchar>(br + depthOffset);
                 ydest += 2;
             
                 *vdest++ = mask;
diff --git a/interface/src/avatar/Face.cpp b/interface/src/avatar/Face.cpp
index f25426a5be..ff31241c54 100644
--- a/interface/src/avatar/Face.cpp
+++ b/interface/src/avatar/Face.cpp
@@ -171,8 +171,7 @@ int Face::processVideoMessage(unsigned char* packetData, size_t dataBytes) {
                         uchar* ysrc = yline;
                         uchar* vsrc = vline;
                         for (int j = 0; j < image->d_w; j += 2) {
-                            
-                            if (*vsrc++ >= MASK_THRESHOLD) {
+                            if (*vsrc++ < MASK_THRESHOLD) {
                                 *depth.ptr(i, j) = EIGHT_BIT_MAXIMUM;
                                 *depth.ptr(i, j + 1) = EIGHT_BIT_MAXIMUM;
                                 *depth.ptr(i + 1, j) = EIGHT_BIT_MAXIMUM;