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Merge branch 'master' of github.com:worklist/hifi

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This commit is contained in:
Stephen Birarda 2013-02-13 10:47:34 -08:00
commit f371b5e21c
14 changed files with 150 additions and 136 deletions
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22
domain/src/main.cpp
View file

@ -5,6 +5,8 @@
// Created by Philip Rosedale on 11/20/12.
// Copyright (c) 2012 High Fidelity, Inc. All rights reserved.
//
// The Domain Server
//
#include <iostream>
#include <math.h>
@ -33,12 +35,13 @@ const int MAX_AGENTS = 1000;
const int LOGOFF_CHECK_INTERVAL = 2000;
struct AgentList {
char agentType;
uint32_t ip;
in_addr sin_addr;
in_port_t port;
float x, y, z;
bool active;
timeval time;
timeval time, connectTime;
} agents[MAX_AGENTS];
int num_agents = 0;
@ -89,7 +92,7 @@ int network_init()
return handle;
}
int addAgent(uint32_t ip, in_port_t port, float x, float y, float z) {
int addAgent(uint32_t ip, in_port_t port, char agentType, float x, float y, float z) {
// Search for agent in list and add if needed
int i = 0;
int is_new = 0;
@ -104,7 +107,9 @@ int addAgent(uint32_t ip, in_port_t port, float x, float y, float z) {
agents[i].active = true;
agents[i].sin_addr.s_addr = ip;
agents[i].port = port;
agents[i].agentType = agentType;
gettimeofday(&agents[i].time, NULL);
if (is_new) gettimeofday(&agents[i].connectTime, NULL);
if (i == num_agents) {
num_agents++;
}
@ -117,7 +122,7 @@ void update_agent_list(timeval now) {
for (i = 0; i < num_agents; i++) {
if ((diffclock(agents[i].time, now) > LOGOFF_CHECK_INTERVAL) &&
agents[i].active) {
std::cout << "Expired Agent from " <<
std::cout << "Expired Agent type " << agents[i].agentType << " from " <<
inet_ntoa(agents[i].sin_addr) << ":" << agents[i].port << "\n";
agents[i].active = false;
}
@ -135,12 +140,14 @@ void send_agent_list(int handle, sockaddr_in * dest_address) {
//std::cout << "send list to: " << inet_ntoa(dest_address->sin_addr) << "\n";
for (i = 0; i < num_agents; i++) {
if (agents[i].active) {
// Write the type of the agent
buffer[length++] = agents[i].agentType;
// Write agent's IP address
address = inet_ntoa(agents[i].sin_addr);
memcpy(&buffer[length], address, strlen(address));
length += strlen(address);
// Add port number
buffer[length++] = ':';
buffer[length++] = ' ';
sprintf(portstring, "%d\n", agents[i].port);
memcpy(&buffer[length], portstring, strlen(portstring));
length += strlen(portstring);
@ -185,9 +192,10 @@ int main(int argc, const char * argv[])
//std::cout << "Packet from: " << inet_ntoa(dest_address.sin_addr)
//<< " " << packet_data << "\n";
float x,y,z;
sscanf(packet_data, "%f,%f,%f", &x, &y, &z);
if (addAgent(dest_address.sin_addr.s_addr, ntohs(dest_address.sin_port), x, y, z)) {
std::cout << "Added Agent from " <<
char agentType;
sscanf(packet_data, "%c %f,%f,%f", &agentType, &x, &y, &z);
if (addAgent(dest_address.sin_addr.s_addr, ntohs(dest_address.sin_port), agentType, x, y, z)) {
std::cout << "Added Agent, type " << agentType << " from " <<
inet_ntoa(dest_address.sin_addr) << ":" << ntohs(dest_address.sin_port) << "\n";
}
// Reply with packet listing nearby active agents

53
interface/src/Agent.cpp
View file

@ -20,6 +20,8 @@ struct AgentList {
unsigned short port;
timeval pingStarted;
int pingMsecs;
char agentType;
bool isSelf;
Head head;
} agents[MAX_AGENTS];
@ -35,18 +37,16 @@ int update_agents(char * data, int length) {
size_t spot;
size_t start_spot = 0;
std::string address, port;
char agentType;
unsigned short nPort = 0;
unsigned int iPort = 0;
spot = packet.find_first_of (",", 0);
while (spot != std::string::npos) {
std::string thisAgent = packet.substr(start_spot, spot-start_spot);
if (thisAgent.find_first_of(":", 0) != std::string::npos) {
address = thisAgent.substr(0, thisAgent.find_first_of(":", 0));
port = thisAgent.substr(thisAgent.find_first_of(":", 0) + 1,
thisAgent.length() - thisAgent.find_first_of(":", 0));
nPort = atoi(port.c_str());
}
//std::cout << "IP: " << address << ", port: " << nPort << "\n";
add_agent((char *)address.c_str(), nPort);
//std::cout << "raw string: " << thisAgent << "\n";
sscanf(thisAgent.c_str(), "%c %s %u", &agentType, address.c_str(), &iPort);
nPort = (unsigned short) iPort;
add_agent((char *)address.c_str(), nPort, agentType);
numAgents++;
start_spot = spot + 1;
if (start_spot < packet.length())
@ -56,12 +56,15 @@ int update_agents(char * data, int length) {
return numAgents;
}
void render_agents() {
// Render the heads of the agents
void render_agents(int renderSelf) {
for (int i = 0; i < num_agents; i++) {
glm::vec3 pos = agents[i].head.getPos();
glPushMatrix();
glTranslatef(pos.x, pos.y, pos.z);
agents[i].head.render(0);
if (!agents[i].isSelf || renderSelf) {
glTranslatef(-pos.x, -pos.y, -pos.z);
agents[i].head.render(0);
}
glPopMatrix();
}
}
@ -76,6 +79,9 @@ void update_agent(char * address, unsigned short port, char * data, int length)
if ((strcmp(address, agents[i].address) == 0) && (agents[i].port == port)) {
// Update the agent
agents[i].head.recvBroadcastData(data, length);
if ((strcmp(address, "127.0.0.1") == 0) && (port == AGENT_UDP_PORT)) {
agents[i].isSelf = true;
} else agents[i].isSelf = false;
}
}
}
@ -83,7 +89,7 @@ void update_agent(char * address, unsigned short port, char * data, int length)
//
// Look for an agent by it's IP number, add if it does not exist in local list
//
int add_agent(char * address, unsigned short port) {
int add_agent(char * address, unsigned short port, char agentType) {
//std::cout << "Checking for " << IP->c_str() << " ";
for (int i = 0; i < num_agents; i++) {
if ((strcmp(address, agents[i].address) == 0) && (agents[i].port == port)) {
@ -94,6 +100,7 @@ int add_agent(char * address, unsigned short port) {
if (num_agents < MAX_AGENTS) {
strcpy(agents[num_agents].address, address);
agents[num_agents].port = port;
agents[num_agents].agentType = agentType;
std::cout << "Added Agent # " << num_agents << " with Address " <<
agents[num_agents].address << ":" << agents[num_agents].port << "\n";
num_agents++;
@ -107,22 +114,16 @@ int add_agent(char * address, unsigned short port) {
//
// Broadcast data to all the other agents you are aware of, returns 1 if success
//
int broadcastToAgents(UDPSocket *handle, char * data, int length) {
int broadcastToAgents(UDPSocket *handle, char * data, int length, int sendToSelf) {
int sent_bytes;
//printf("broadcasting to %d agents\n", num_agents);
for (int i = 0; i < num_agents; i++) {
//printf("bcast to %s\n", agents[i].address);
//
// STUPID HACK: For some reason on OSX with NAT translation packets sent to localhost are
// received as from the NAT translated port but have to be sent to the local port number.
//
//if (1) //(strcmp("192.168.1.53",agents[i].address) == 0)
// sent_bytes = handle->send(agents[i].address, 40103, data, length);
//else
for (int i = 0; i < num_agents; i++) {
//std::cout << "to: Agent address " << agents[i].address << " port " << agents[i].port << "\n";
if (sendToSelf || ((strcmp((char *)"127.0.0.1", agents[i].address) != 0)
&& (agents[i].port != AGENT_UDP_PORT)))
sent_bytes = handle->send(agents[i].address, agents[i].port, data, length);
if (sent_bytes != length) {
std::cout << "Broadcast packet fail!\n";
std::cout << "Broadcast to agents FAILED\n";
return 0;
}
}
@ -135,7 +136,7 @@ void pingAgents(UDPSocket *handle) {
for (int i = 0; i < num_agents; i++) {
gettimeofday(&agents[i].pingStarted, NULL);
handle->send(agents[i].address, agents[i].port, payload, 1);
printf("\nSent Ping at %d usecs\n", agents[i].pingStarted.tv_usec);
//printf("\nSent Ping at %d usecs\n", agents[i].pingStarted.tv_usec);
}
}
@ -146,7 +147,7 @@ void setAgentPing(char * address, unsigned short port) {
timeval pingReceived;
gettimeofday(&pingReceived, NULL);
float pingMsecs = diffclock(&agents[i].pingStarted, &pingReceived);
printf("Received ping at %d usecs, Agent ping = %3.1f\n", pingReceived.tv_usec, pingMsecs);
//printf("Received ping at %d usecs, Agent ping = %3.1f\n", pingReceived.tv_usec, pingMsecs);
agents[i].pingMsecs = pingMsecs;
}
}

7
interface/src/Agent.h
View file

@ -18,13 +18,14 @@
#include <string.h>
#include "UDPSocket.h"
const int AGENT_UDP_PORT = 40103;
int update_agents(char * data, int length);
int add_agent(char * address, unsigned short port);
int broadcastToAgents(UDPSocket * handle, char * data, int length);
int add_agent(char * address, unsigned short port, char agentType);
int broadcastToAgents(UDPSocket * handle, char * data, int length, int sendToSelf);
void pingAgents(UDPSocket *handle);
void setAgentPing(char * address, unsigned short port);
void update_agent(char * address, unsigned short port, char * data, int length);
void render_agents();
void render_agents(int renderSelf);
#endif

26
interface/src/Audio.cpp
View file

@ -17,6 +17,8 @@
#include "AudioSource.h"
#include "UDPSocket.h"
Oscilloscope * scope;
const short BUFFER_LENGTH_BYTES = 1024;
const short BUFFER_LENGTH_SAMPLES = BUFFER_LENGTH_BYTES / sizeof(int16_t);
@ -97,6 +99,14 @@ int audioCallback (const void *inputBuffer,
loudness /= BUFFER_LENGTH_SAMPLES;
data->lastInputLoudness = loudness;
data->averagedInputLoudness = 0.66*data->averagedInputLoudness + 0.33*loudness;
//
// If scope is turned on, copy input buffer to scope
//
if (scope->getState()) {
for (int i = 0; i < BUFFER_LENGTH_SAMPLES; i++) {
scope->addData((float)inputLeft[i]/32767.0, 1, i);
}
}
}
int16_t *outputLeft = ((int16_t **) outputBuffer)[0];
@ -105,6 +115,14 @@ int audioCallback (const void *inputBuffer,
memset(outputLeft, 0, BUFFER_LENGTH_BYTES);
memset(outputRight, 0, BUFFER_LENGTH_BYTES);
// Copy output data to oscilloscope
if (scope->getState()) {
for (int i = 0; i < BUFFER_LENGTH_SAMPLES; i++) {
scope->addData((float)outputRight[i]/32767.0, 2, i);
}
}
if (ECHO_SERVER_TEST) {
AudioRingBuffer *ringBuffer = data->ringBuffer;
@ -299,17 +317,19 @@ void *receiveAudioViaUDP(void *args) {
* @return Returns true if successful or false if an error occurred.
Use Audio::getError() to retrieve the error code.
*/
bool Audio::init()
bool Audio::init(Oscilloscope * s)
{
Head *deadHead = new Head();
return Audio::init(deadHead);
return Audio::init(deadHead, s);
}
bool Audio::init(Head *mainHead)
bool Audio::init(Head *mainHead, Oscilloscope * s)
{
err = Pa_Initialize();
if (err != paNoError) goto error;
scope = s;
if (ECHO_SERVER_TEST) {
data = new AudioData(BUFFER_LENGTH_BYTES);

6
interface/src/Audio.h
View file

@ -13,12 +13,13 @@
#include <portaudio.h>
#include "Head.h"
#include "AudioData.h"
#include "Oscilloscope.h"
class Audio {
public:
// initializes audio I/O
static bool init();
static bool init(Head* mainHead);
static bool init(Oscilloscope * s);
static bool init(Head* mainHead, Oscilloscope * s);
static void render();
static void render(int screenWidth, int screenHeight);
@ -32,6 +33,7 @@ private:
static AudioData *data;
// protects constructor so that public init method is used
Audio();

5
interface/src/AudioData.cpp
View file

@ -12,6 +12,11 @@ AudioData::AudioData(int bufferLength) {
sources = NULL;
samplesToQueue = new int16_t[bufferLength / sizeof(int16_t)];
averagedLatency = 0.0;
lastCallback.tv_usec = 0;
wasStarved = 0;
measuredJitter = 0;
jitterBuffer = 0;
}
AudioData::AudioData(int numberOfSources, int bufferLength) {

2
interface/src/Cube.cpp
View file

@ -59,7 +59,6 @@ VoxelSystem::VoxelSystem(int num,
}
void VoxelSystem::render() {
glPushMatrix();
int i = 0;
while (i < cube_count) {
glPushMatrix();
@ -69,7 +68,6 @@ void VoxelSystem::render() {
glPopMatrix();
i++;
}
glPopMatrix();
}
void VoxelSystem::simulate(float deltaTime) {

17
interface/src/Head.cpp
View file

@ -214,22 +214,7 @@ void Head::render(int faceToFace)
glPushMatrix();
glScalef(scale, scale, scale);
glTranslatef(leanSideways, 0.f, leanForward);
if (!faceToFace)
{
//printf("x: %3.1f\n", position.x);
//glTranslatef(3,3,2);
//printf("head: %3.1f, %3.1f, %3.1f\n", position.x, position.y, position.z);
float x = position.x;
float y = position.y;
float z = position.z;
//glTranslatef(6.1, 0, 1.4);
glTranslatef(x,y,z);
//glTranslatef(position.x, position.y, position.z);
}
glRotatef(Yaw/2.0, 0, 1, 0);
glRotatef(Pitch/2.0, 1, 0, 0);
@ -237,7 +222,7 @@ void Head::render(int faceToFace)
// Overall scale of head
glScalef(1.5, 2.0, 2.0);
if (faceToFace) glScalef(1.5, 2.0, 2.0);
glColor3fv(skinColor);
// Head

4
interface/src/Head.h
View file

@ -88,8 +88,8 @@ public:
float getLoudness() {return loudness;};
float getAverageLoudness() {return averageLoudness;};
float setAverageLoudness(float al) {averageLoudness = al;};
float setLoudness(float l) {loudness = l;};
void setAverageLoudness(float al) {averageLoudness = al;};
void setLoudness(float l) {loudness = l;};
void SetNewHeadTarget(float, float);
glm::vec3 getPos() { return position; };

27
interface/src/Oscilloscope.cpp
View file

@ -9,22 +9,37 @@
#include "Oscilloscope.h"
Oscilloscope::Oscilloscope(int w,
int h) {
int h, bool isOn) {
width = w;
height = h;
data = new float[width];
data1 = new float[width];
data2 = new float[width];
for (int i = 0; i < width; i++) {
data[i] = 0.0;
data1[i] = 0.0;
data2[i] = 0.0;
}
state = isOn;
current_sample = 0;
}
void Oscilloscope::addData(float d) {
data[current_sample++] = d;
void Oscilloscope::addData(float d, int channel, int position) {
if (channel == 1) data1[position] = d;
else data2[position] = d;
}
void Oscilloscope::render() {
glColor3f(1,1,1);
glBegin(GL_LINES);
//glVertex2f(
for (int i = 0; i < width; i++) {
glVertex2f((float)i, height/2 + data1[i]*(float)height);
}
glEnd();
glColor3f(0,1,1);
glBegin(GL_LINES);
for (int i = 0; i < width; i++) {
glVertex2f((float)i, height/2 + data2[i]*(float)height);
}
glEnd();
}

9
interface/src/Oscilloscope.h
View file

@ -18,13 +18,16 @@
class Oscilloscope {
public:
Oscilloscope(int width,
int height);
void addData(float data);
int height, bool isOn);
void addData(float d, int channel, int position);
void render();
void setState(bool s) {state = s;};
bool getState() {return state;};
private:
int width;
int height;
float * data;
float *data1, *data2;
int current_sample;
bool state;
};
#endif /* defined(__interface__oscilloscope__) */

86
interface/src/main.cpp
View file

@ -44,6 +44,7 @@
#include "Cube.h"
#include "Lattice.h"
#include "Finger.h"
#include "Oscilloscope.h"
using namespace std;
@ -55,8 +56,7 @@ int simulate_on = 1;
//
const int MAX_PACKET_SIZE = 1500;
const int AGENT_UDP_PORT = 40103;
char DOMAINSERVER_IP[] = "192.168.1.53";
char DOMAINSERVER_IP[] = "127.0.0.1";
const int DOMAINSERVER_PORT = 40102;
UDPSocket agentSocket(AGENT_UDP_PORT);
@ -73,15 +73,16 @@ int target_x, target_y;
int target_display = 0;
int head_mirror = 1; // Whether to mirror own head when viewing it
int sendToSelf = 0;
int WIDTH = 1200;
int HEIGHT = 800;
int fullscreen = 0;
int fullscreen = 0;
Oscilloscope audioScope(512,200,true);
#define HAND_RADIUS 0.25 // Radius of in-world 'hand' of you
Head myHead; // The rendered head of oneself or others
Head dummyHead; // Test Head to render
int showDummyHead = 0;
Head myHead; // The rendered head of oneself
Hand myHand(HAND_RADIUS,
glm::vec3(0,1,1)); // My hand (used to manipulate things in world)
@ -224,9 +225,11 @@ void Timer(int extra)
glutTimerFunc(1000,Timer,0);
gettimeofday(&timer_start, NULL);
//
// Send a message to the domainserver telling it we are ALIVE
//
char output[100];
sprintf(output, "%f,%f,%f", location[0], location[1], location[2]);
sprintf(output, "%c %f,%f,%f", 'I', location[0], location[1], location[2]);
int packet_size = strlen(output);
agentSocket.send(DOMAINSERVER_IP, DOMAINSERVER_PORT, output, packet_size);
@ -239,9 +242,9 @@ void Timer(int extra)
gettimeofday(&starttest, NULL);
char junk[1000];
junk[0] = 'J';
for (int i = 0; i < 3000; i++)
for (int i = 0; i < 10000; i++)
{
agentSocket.send("192.168.1.38", AGENT_UDP_PORT, junk, 1000);
agentSocket.send((char *)"192.168.1.38", AGENT_UDP_PORT, junk, 1000);
}
gettimeofday(&endtest, NULL);
float sendTime = diffclock(&starttest, &endtest);
@ -299,18 +302,11 @@ void init(void)
{
myHead.setRenderYaw(start_yaw);
dummyHead.setPitch(0);
dummyHead.setRoll(0);
dummyHead.setYaw(0);
dummyHead.setScale(0.25);
dummyHead.setPos(glm::vec3(0,0,0));
if (audio_on) {
if (serial_on) {
Audio::init(&myHead);
Audio::init(&myHead, &audioScope);
} else {
Audio::init();
Audio::init(&audioScope);
}
printf( "Audio started.\n" );
}
@ -328,7 +324,6 @@ void init(void)
{
myHand.setNoise(noise);
myHead.setNoise(noise);
dummyHead.setNoise(noise);
}
if (serial_on)
@ -385,8 +380,6 @@ void reset_sensors()
// Reset serial I/O sensors
//
myHead.setRenderYaw(start_yaw);
dummyHead.setRenderPitch(0);
dummyHead.setRenderYaw(0);
yaw = render_yaw_rate = 0;
pitch = render_pitch = render_pitch_rate = 0;
@ -535,16 +528,10 @@ void update_pos(float frametime)
myHead.setAverageLoudness(averageLoudness);
// Send my streaming head data to agents that are nearby and need to see it!
const int MAX_BROADCAST_STRING = 200;
char broadcast_string[MAX_BROADCAST_STRING];
int broadcast_bytes = myHead.getBroadcastData(broadcast_string);
broadcastToAgents(&agentSocket, broadcast_string, broadcast_bytes);
//printf("-> %s\n", broadcast_string);
//dummyHead.recvBroadcastData(broadcast_string, broadcast_bytes);
//printf("head bytes: %d\n", broadcast_bytes);
broadcastToAgents(&agentSocket, broadcast_string, broadcast_bytes, sendToSelf);
}
int render_test_spot = WIDTH/2;
@ -559,6 +546,8 @@ void display(void)
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glLoadIdentity();
// Setup 3D lights
glEnable(GL_COLOR_MATERIAL);
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
@ -589,21 +578,9 @@ void display(void)
// Draw field vectors
if (display_field) field.render();
// Render my own head
if (display_head) {
glPushMatrix();
glLoadIdentity();
glTranslatef(0.f, 0.f, -7.f);
myHead.render(1);
glPopMatrix();
}
// Render dummy head
if (showDummyHead) dummyHead.render(0);
// Render heads of other agents
if (!display_head) render_agents();
render_agents(sendToSelf);
if (display_hand) myHand.render();
@ -612,11 +589,22 @@ void display(void)
// Render the world box
if (!display_head && stats_on) render_world_box();
// Render my own head
if (display_head) {
glPushMatrix();
glLoadIdentity();
glTranslatef(0.f, 0.f, -7.f);
myHead.render(1);
glPopMatrix();
}
// render audio sources and start them
if (audio_on) {
Audio::render();
}
//glm::vec3 test(0.5, 0.5, 0.5);
//render_vector(&test);
@ -633,6 +621,8 @@ void display(void)
// lattice.render(WIDTH, HEIGHT);
// myFinger.render();
Audio::render(WIDTH, HEIGHT);
if (audioScope.getState()) audioScope.render();
//drawvec3(100, 100, 0.15, 0, 1.0, 0, myHead.getPos(), 0, 1, 0);
glPointParameterfvARB( GL_POINT_DISTANCE_ATTENUATION_ARB, pointer_attenuation_quadratic );
@ -801,7 +791,7 @@ void read_network()
//
// Got Ping, reply immediately!
//
printf("Replying to ping!\n");
//printf("Replying to ping!\n");
char reply[] = "R";
agentSocket.send(inet_ntoa(senderAddress.sin_addr), ntohs(senderAddress.sin_port), reply, 1);
} else if (incoming_packet[0] == 'R') {
@ -829,7 +819,10 @@ void read_network()
//
update_agent(inet_ntoa(senderAddress.sin_addr), ntohs(senderAddress.sin_port), &incoming_packet[1], bytes_recvd - 1);
} else if (incoming_packet[0] == 'T') {
printf("Got test! From port %d\n", senderAddress.sin_port);
// Received a self-test packet (to get one's own IP), copy it to local variable!
printf("My Address: %s:%u\n",
inet_ntoa(senderAddress.sin_addr),
senderAddress.sin_port);
}
}
}
@ -948,7 +941,10 @@ int main(int argc, char** argv)
// Create network socket and buffer
incoming_packet = new char[MAX_PACKET_SIZE];
//
// Send one test packet to detect own IP, port:
char selfTest[] = "T";
agentSocket.send((char *)"127.0.0.1", AGENT_UDP_PORT, selfTest, 1);
printf("Testing stats math... ");
StDev stdevtest;
stdevtest.reset();

21
interface/src/octal.cpp
View file

@ -27,24 +27,3 @@ void getVoxel(float * pos, int scale, float * vpos) {
vpos[Z] = floor(pos[Z]*vscale)/vscale;
}
//
// Given a pointer to an octal code and some domain owner data, iterate the tree and add the node(s) as needed.
//
domainNode* createNode(int lengthInBits, char * octalData,
char * hostname, char * nickname, int domain_id) {
domainNode * currentNode = &rootNode;
for (int i = 0; i < lengthInBits; i+=3) {
char octet = 0;
if (i%8 < 6) octet = octalData[i/8] << (i%8);
else {
octet = octalData[i/8] << (i%8) && ((octalData[i/8 + 1] >> (i%8)) << (8 - i%8));
}
if (currentNode->child[octet] == NULL) currentNode->child[octet] = new domainNode;
currentNode = currentNode->child[octet];
}
// Copy in the new node info...
strcpy(currentNode->hostname, hostname);
strcpy(currentNode->nickname, nickname);
currentNode->domain_id = domain_id;
return currentNode;
}

1
interface/src/world.h
View file

@ -11,6 +11,7 @@
#ifndef __interface__world__
#define __interface__world__
const float WORLD_SIZE = 10.0;
#define PI 3.14159265