Where is toxi.geom? I can not find it anyware.

edited November 2016 in Library Questions

I am trying to install Processing for the MPU6050 and MPUTeapot. MPUTeapot uses the library toxi.geom. But I can not even find the library.

Answers

  • edited November 2016

    Jef Robergs MPUTeapot runs in Processing. I can not get it run because the library toxi.geom is not found. I have installed the toxiclibs, but toxi.geom is not in there. The program worked yesterday, but they are changing versions on me. Now I can not get the libraries right.

    The code for Jef Robergs MPUTeapot follows:

    // I2C device class (I2Cdev) demonstration Processing sketch for MPU6050 DMP output
    // 6/20/2012 by Jeff Rowberg <jeff@rowberg.net>
    // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
    //
    // Changelog:
    //     2012-06-20 - initial release
    
    /** ============================================
    I2Cdev device library code is placed under the MIT license
    Copyright (c) 2012 Jeff Rowberg
    
    Permission is hereby granted, free of charge, to any person obtaining a copy
    of this software and associated documentation files (the "Software"), to deal
    in the Software without restriction, including without limitation the rights
    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
    copies of the Software, and to permit persons to whom the Software is
    furnished to do so, subject to the following conditions:
    
    The above copyright notice and this permission notice shall be included in
    all copies or substantial portions of the Software.
    
    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
    THE SOFTWARE.
    ===============================================
    */
    
    import processing.serial.*;
    import processing.opengl.*;
    import toxi.geom.*;
    import toxi.processing.*;
    
    // NOTE: requires ToxicLibs to be installed in order to run properly.
    // 1. Download from http://toxiclibs.org/downloads
    // 2. Extract into [userdir]/Processing/libraries
    //    (location may be different on Mac/Linux)
    // 3. Run and bask in awesomeness
    
    ToxiclibsSupport gfx;
    
    Serial port;                         // The serial port
    char[] teapotPacket = new char[14];  // InvenSense Teapot packet
    int serialCount = 0;                 // current packet byte position
    int synced = 0;
    int interval = 0;
    
    float[] q = new float[4];
    Quaternion quat = new Quaternion(1, 0, 0, 0);
    
    float[] gravity = new float[3];
    float[] euler = new float[3];
    float[] ypr = new float[3];
    
    void setup() {
        // 300px square viewport using OpenGL rendering
        size(300, 300, OPENGL);
        gfx = new ToxiclibsSupport(this);
    
        // setup lights and antialiasing
        lights();
        smooth();
    
        // display serial port list for debugging/clarity
        println(Serial.list());
    
        // get the first available port (use EITHER this OR the specific port code below)
        //String portName = Serial.list()[0];
    
        // get a specific serial port (use EITHER this OR the first-available code above)
        String portName = "COM5";
    
        // open the serial port
        port = new Serial(this, portName, 115200);
    
        // send single character to trigger DMP init/start
        // (expected by MPU6050_DMP6 example Arduino sketch)
        port.write('r');
    }
    
    void draw() {
        if (millis() - interval > 1000) {
            // resend single character to trigger DMP init/start
            // in case the MPU is halted/reset while applet is running
            port.write('r');
            interval = millis();
        }
    
        // black background
        background(0);
    
        // translate everything to the middle of the viewport
        pushMatrix();
        translate(width / 2, height / 2);
    
        // 3-step rotation from yaw/pitch/roll angles (gimbal lock!)
        // ...and other weirdness I haven't figured out yet
        //rotateY(-ypr[0]);
        //rotateZ(-ypr[1]);
        //rotateX(-ypr[2]);
    
        // toxiclibs direct angle/axis rotation from quaternion (NO gimbal lock!)
        // (axis order [1, 3, 2] and inversion [-1, +1, +1] is a consequence of
        // different coordinate system orientation assumptions between Processing
        // and InvenSense DMP)
        float[] axis = quat.toAxisAngle();
        rotate(axis[0], -axis[1], axis[3], axis[2]);
    
        // draw main body in red
        fill(255, 0, 0, 200);
        box(10, 10, 200);
    
        // draw front-facing tip in blue
        fill(0, 0, 255, 200);
        pushMatrix();
        translate(0, 0, -120);
        rotateX(PI/2);
        drawCylinder(0, 20, 20, 8);
        popMatrix();
    
        // draw wings and tail fin in green
        fill(0, 255, 0, 200);
        beginShape(TRIANGLES);
        vertex(-100,  2, 30); vertex(0,  2, -80); vertex(100,  2, 30);  // wing top layer
        vertex(-100, -2, 30); vertex(0, -2, -80); vertex(100, -2, 30);  // wing bottom layer
        vertex(-2, 0, 98); vertex(-2, -30, 98); vertex(-2, 0, 70);  // tail left layer
        vertex( 2, 0, 98); vertex( 2, -30, 98); vertex( 2, 0, 70);  // tail right layer
        endShape();
        beginShape(QUADS);
        vertex(-100, 2, 30); vertex(-100, -2, 30); vertex(  0, -2, -80); vertex(  0, 2, -80);
        vertex( 100, 2, 30); vertex( 100, -2, 30); vertex(  0, -2, -80); vertex(  0, 2, -80);
        vertex(-100, 2, 30); vertex(-100, -2, 30); vertex(100, -2,  30); vertex(100, 2,  30);
        vertex(-2,   0, 98); vertex(2,   0, 98); vertex(2, -30, 98); vertex(-2, -30, 98);
        vertex(-2,   0, 98); vertex(2,   0, 98); vertex(2,   0, 70); vertex(-2,   0, 70);
        vertex(-2, -30, 98); vertex(2, -30, 98); vertex(2,   0, 70); vertex(-2,   0, 70);
        endShape();
    
        popMatrix();
    }
    
    void serialEvent(Serial port) {
        interval = millis();
        while (port.available() > 0) {
            int ch = port.read();
    
            if (synced == 0 && ch != '$') return;   // initial synchronization - also used to resync/realign if needed
            synced = 1;
            print ((char)ch);
    
            if ((serialCount == 1 && ch != 2)
                || (serialCount == 12 && ch != '\r')
                || (serialCount == 13 && ch != '\n'))  {
                serialCount = 0;
                synced = 0;
                return;
            }
    
            if (serialCount > 0 || ch == '$') {
                teapotPacket[serialCount++] = (char)ch;
                if (serialCount == 14) {
                    serialCount = 0; // restart packet byte position
    
                    // get quaternion from data packet
                    q[0] = ((teapotPacket[2] << 8) | teapotPacket[3]) / 16384.0f;
                    q[1] = ((teapotPacket[4] << 8) | teapotPacket[5]) / 16384.0f;
                    q[2] = ((teapotPacket[6] << 8) | teapotPacket[7]) / 16384.0f;
                    q[3] = ((teapotPacket[8] << 8) | teapotPacket[9]) / 16384.0f;
                    for (int i = 0; i < 4; i++) if (q[i] >= 2) q[i] = -4 + q[i];
    
                    // set our toxilibs quaternion to new data
                    quat.set(q[0], q[1], q[2], q[3]);
    
                    /**
                    // below calculations unnecessary for orientation only using toxilibs
    
                    // calculate gravity vector
                    gravity[0] = 2 * (q[1]*q[3] - q[0]*q[2]);
                    gravity[1] = 2 * (q[0]*q[1] + q[2]*q[3]);
                    gravity[2] = q[0]*q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3];
    
                    // calculate Euler angles
                    euler[0] = atan2(2*q[1]*q[2] - 2*q[0]*q[3], 2*q[0]*q[0] + 2*q[1]*q[1] - 1);
                    euler[1] = -asin(2*q[1]*q[3] + 2*q[0]*q[2]);
                    euler[2] = atan2(2*q[2]*q[3] - 2*q[0]*q[1], 2*q[0]*q[0] + 2*q[3]*q[3] - 1);
    
                    // calculate yaw/pitch/roll angles
                    ypr[0] = atan2(2*q[1]*q[2] - 2*q[0]*q[3], 2*q[0]*q[0] + 2*q[1]*q[1] - 1);
                    ypr[1] = atan(gravity[0] / sqrt(gravity[1]*gravity[1] + gravity[2]*gravity[2]));
                    ypr[2] = atan(gravity[1] / sqrt(gravity[0]*gravity[0] + gravity[2]*gravity[2]));
    
                    // output various components for debugging
                    //println("q:\t" + round(q[0]*100.0f)/100.0f + "\t" + round(q[1]*100.0f)/100.0f + "\t" + round(q[2]*100.0f)/100.0f + "\t" + round(q[3]*100.0f)/100.0f);
                    //println("euler:\t" + euler[0]*180.0f/PI + "\t" + euler[1]*180.0f/PI + "\t" + euler[2]*180.0f/PI);
                    //println("ypr:\t" + ypr[0]*180.0f/PI + "\t" + ypr[1]*180.0f/PI + "\t" + ypr[2]*180.0f/PI);
                    */
                }
            }
        }
    }
    
    void drawCylinder(float topRadius, float bottomRadius, float tall, int sides) {
        float angle = 0;
        float angleIncrement = TWO_PI / sides;
        beginShape(QUAD_STRIP);
        for (int i = 0; i < sides + 1; ++i) {
            vertex(topRadius*cos(angle), 0, topRadius*sin(angle));
            vertex(bottomRadius*cos(angle), tall, bottomRadius*sin(angle));
            angle += angleIncrement;
        }
        endShape();
    
        // If it is not a cone, draw the circular top cap
        if (topRadius != 0) {
            angle = 0;
            beginShape(TRIANGLE_FAN);
    
            // Center point
            vertex(0, 0, 0);
            for (int i = 0; i < sides + 1; i++) {
                vertex(topRadius * cos(angle), 0, topRadius * sin(angle));
                angle += angleIncrement;
            }
            endShape();
        }
    
        // If it is not a cone, draw the circular bottom cap
        if (bottomRadius != 0) {
            angle = 0;
            beginShape(TRIANGLE_FAN);
    
            // Center point
            vertex(0, tall, 0);
            for (int i = 0; i < sides + 1; i++) {
                vertex(bottomRadius * cos(angle), tall, bottomRadius * sin(angle));
                angle += angleIncrement;
            }
            endShape();
        }
    }
    
  • Well, you may want to confirm that your library is installed in a place that MPUTeapot can find it, and that the import statement matches the current structure of that library. Alternately, install an older version of toxiclibs that seems to match that last version of MPUTeapot.

    Lines 34/35:

    import toxi.geom.*;
    import toxi.processing.*;
    

    ...and the last link I sent you:

    That's toxi.geom, right there.

    1. Did you install through PDE contributions manager, and does it show toxiclibs 22 as installed?
    2. If you go into your Processing > library folder, is there a folder toxiclibs > src > toxi > geom?
    3. If you open a library example, like Processing > library > toxiclibs > examples > core > geometry > TreeGrowth -- does it run?
  • edited November 2016

    I manually loaded what I thought was toxiclibs(toxilib_p5 -- wrong). The PDE contributions manager almost thought I had done it correctly. My question has always been "What is 'toxiclibs'?" Is it toxiclib_p5?(NO). toxiclibs is eight(8) libraries. Only one of them is toxiclibs_p5.

    "Karsten Schmidt REPO OWNER

    don't know where you downloaded it from, but the archive from here definitely has: https://bitbucket.org/postspectacular/toxiclibs/downloads - simply download the latest zip, unzip it and move the full toxiclibs-complete folder into /libraries/, then restart Processing. Each library module (there're 8 of them) has the same structure and each module's .jar file is in its library sub-folder, examples are in the examples folders (there're 100+ of them)"

    I now have all eight(8) of the Toxic Libraries loaded like they are supposed to be.

    Thank You all!

  • @CLplaneGuy Thank you for sharing your answer and providing these details.

    Kf

  • edited February 2017

    well here is the solution for the toxic lib error:

    1. Open Processing

    2. Go to tools open the roll down and add

    3. On the new menu bar go to libraries

    4. At your left side is a pull down windows open it and select unknown

    5. The last item on this window is Toxic lib. Install it

    The thing will install and you are set

  • Quoting from CLplaneGuy

    I now have all eight(8) of the Toxic Libraries loaded like they are supposed to be.

    @levrob I have seen previous post of people having problems with this library when installing it using Processing's library manager. It seems that there are parts missing in the installation of this specific library. From my experience, downloading the library and doing a manual install ensures I get all the components of the library. I am not sure if this glitch has been fixed.

    Kf

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