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Corentin Wallez4a9ef4e2018-07-18 11:40:26 +02001// Copyright 2017 The Dawn Authors
Austin Eng376f1c62017-05-30 20:03:44 -04002//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
Corentin Wallez9347e8f2017-06-19 13:15:13 -040015#include "SampleUtils.h"
Austin Eng376f1c62017-05-30 20:03:44 -040016
Yan, Shaoboa4924272018-12-10 19:47:22 +000017#include "utils/ComboRenderPipelineDescriptor.h"
Corentin Wallez134e0802017-07-17 17:13:57 -040018#include "utils/SystemUtils.h"
Corentin Wallez04863c42019-10-25 11:36:47 +000019#include "utils/WGPUHelpers.h"
Corentin Wallez5ee7afd2017-06-19 13:09:41 -040020
Corentin Wallez4d7d1692018-08-13 08:23:27 +020021#include <glm/glm.hpp>
22#include <glm/gtc/matrix_transform.hpp>
23#include <glm/gtc/type_ptr.hpp>
Kai Ninomiya2afea0c2020-07-10 20:33:08 +000024#include <vector>
Austin Eng376f1c62017-05-30 20:03:44 -040025
Corentin Wallez04863c42019-10-25 11:36:47 +000026wgpu::Device device;
Austin Eng376f1c62017-05-30 20:03:44 -040027
Corentin Wallez04863c42019-10-25 11:36:47 +000028wgpu::Buffer indexBuffer;
29wgpu::Buffer vertexBuffer;
30wgpu::Buffer planeBuffer;
31wgpu::Buffer cameraBuffer;
32wgpu::Buffer transformBuffer[2];
Austin Eng376f1c62017-05-30 20:03:44 -040033
Corentin Wallez04863c42019-10-25 11:36:47 +000034wgpu::BindGroup cameraBindGroup;
35wgpu::BindGroup bindGroup[2];
36wgpu::BindGroup cubeTransformBindGroup[2];
Austin Eng376f1c62017-05-30 20:03:44 -040037
Corentin Wallez04863c42019-10-25 11:36:47 +000038wgpu::Queue queue;
39wgpu::SwapChain swapchain;
40wgpu::TextureView depthStencilView;
41wgpu::RenderPipeline pipeline;
42wgpu::RenderPipeline planePipeline;
43wgpu::RenderPipeline reflectionPipeline;
Austin Eng376f1c62017-05-30 20:03:44 -040044
45void initBuffers() {
Kai Ninomiya2afea0c2020-07-10 20:33:08 +000046 static const uint32_t indexData[6 * 6] = {0, 1, 2, 0, 2, 3,
Austin Eng376f1c62017-05-30 20:03:44 -040047
Kai Ninomiya2afea0c2020-07-10 20:33:08 +000048 4, 5, 6, 4, 6, 7,
Austin Eng376f1c62017-05-30 20:03:44 -040049
Kai Ninomiya2afea0c2020-07-10 20:33:08 +000050 8, 9, 10, 8, 10, 11,
Austin Eng376f1c62017-05-30 20:03:44 -040051
Kai Ninomiya2afea0c2020-07-10 20:33:08 +000052 12, 13, 14, 12, 14, 15,
Austin Eng376f1c62017-05-30 20:03:44 -040053
Kai Ninomiya2afea0c2020-07-10 20:33:08 +000054 16, 17, 18, 16, 18, 19,
Austin Eng376f1c62017-05-30 20:03:44 -040055
Kai Ninomiya2afea0c2020-07-10 20:33:08 +000056 20, 21, 22, 20, 22, 23};
Corentin Wallez9e9e29f2019-08-27 08:21:39 +000057 indexBuffer =
Corentin Wallez04863c42019-10-25 11:36:47 +000058 utils::CreateBufferFromData(device, indexData, sizeof(indexData), wgpu::BufferUsage::Index);
Austin Eng376f1c62017-05-30 20:03:44 -040059
60 static const float vertexData[6 * 4 * 6] = {
Kai Ninomiya2afea0c2020-07-10 20:33:08 +000061 -1.0, -1.0, 1.0, 1.0, 0.0, 0.0, 1.0, -1.0, 1.0, 1.0, 0.0, 0.0,
62 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.0, 0.0,
Austin Eng376f1c62017-05-30 20:03:44 -040063
Kai Ninomiya2afea0c2020-07-10 20:33:08 +000064 -1.0, -1.0, -1.0, 1.0, 1.0, 0.0, -1.0, 1.0, -1.0, 1.0, 1.0, 0.0,
65 1.0, 1.0, -1.0, 1.0, 1.0, 0.0, 1.0, -1.0, -1.0, 1.0, 1.0, 0.0,
Austin Eng376f1c62017-05-30 20:03:44 -040066
Kai Ninomiya2afea0c2020-07-10 20:33:08 +000067 -1.0, 1.0, -1.0, 1.0, 0.0, 1.0, -1.0, 1.0, 1.0, 1.0, 0.0, 1.0,
68 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, -1.0, 1.0, 0.0, 1.0,
Austin Eng376f1c62017-05-30 20:03:44 -040069
Kai Ninomiya2afea0c2020-07-10 20:33:08 +000070 -1.0, -1.0, -1.0, 0.0, 1.0, 0.0, 1.0, -1.0, -1.0, 0.0, 1.0, 0.0,
71 1.0, -1.0, 1.0, 0.0, 1.0, 0.0, -1.0, -1.0, 1.0, 0.0, 1.0, 0.0,
Austin Eng376f1c62017-05-30 20:03:44 -040072
Kai Ninomiya2afea0c2020-07-10 20:33:08 +000073 1.0, -1.0, -1.0, 0.0, 1.0, 1.0, 1.0, 1.0, -1.0, 0.0, 1.0, 1.0,
74 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, -1.0, 1.0, 0.0, 1.0, 1.0,
Austin Eng376f1c62017-05-30 20:03:44 -040075
Kai Ninomiya2afea0c2020-07-10 20:33:08 +000076 -1.0, -1.0, -1.0, 1.0, 1.0, 1.0, -1.0, -1.0, 1.0, 1.0, 1.0, 1.0,
77 -1.0, 1.0, 1.0, 1.0, 1.0, 1.0, -1.0, 1.0, -1.0, 1.0, 1.0, 1.0};
Corentin Wallez9e9e29f2019-08-27 08:21:39 +000078 vertexBuffer = utils::CreateBufferFromData(device, vertexData, sizeof(vertexData),
Corentin Wallez04863c42019-10-25 11:36:47 +000079 wgpu::BufferUsage::Vertex);
Austin Eng376f1c62017-05-30 20:03:44 -040080
81 static const float planeData[6 * 4] = {
Kai Ninomiya2afea0c2020-07-10 20:33:08 +000082 -2.0, -1.0, -2.0, 0.5, 0.5, 0.5, 2.0, -1.0, -2.0, 0.5, 0.5, 0.5,
83 2.0, -1.0, 2.0, 0.5, 0.5, 0.5, -2.0, -1.0, 2.0, 0.5, 0.5, 0.5,
Austin Eng376f1c62017-05-30 20:03:44 -040084 };
Corentin Wallez9e9e29f2019-08-27 08:21:39 +000085 planeBuffer = utils::CreateBufferFromData(device, planeData, sizeof(planeData),
Corentin Wallez04863c42019-10-25 11:36:47 +000086 wgpu::BufferUsage::Vertex);
Austin Eng376f1c62017-05-30 20:03:44 -040087}
88
Austin Eng58c76b32017-06-02 14:31:53 -040089struct CameraData {
Austin Eng376f1c62017-05-30 20:03:44 -040090 glm::mat4 view;
91 glm::mat4 proj;
92} cameraData;
93
94void init() {
Corentin Wallez39039fa2018-07-18 14:06:10 +020095 device = CreateCppDawnDevice();
Austin Eng376f1c62017-05-30 20:03:44 -040096
Corentin Wallez6d315da2021-02-04 15:33:42 +000097 queue = device.GetQueue();
Kai Ninomiyac16a67a2017-07-27 18:30:57 -070098 swapchain = GetSwapChain(device);
Corentin Wallez6b087812020-10-27 15:35:56 +000099 swapchain.Configure(GetPreferredSwapChainTextureFormat(), wgpu::TextureUsage::RenderAttachment,
Corentin Wallez9e9e29f2019-08-27 08:21:39 +0000100 640, 480);
Austin Eng376f1c62017-05-30 20:03:44 -0400101
102 initBuffers();
103
Corentin Wallez4814bdb2020-11-26 16:39:46 +0000104 wgpu::ShaderModule vsModule = utils::CreateShaderModuleFromWGSL(device, R"(
105 [[block]] struct Camera {
Ben Claytonc5686842021-03-17 09:48:19 +0000106 view : mat4x4<f32>;
107 proj : mat4x4<f32>;
Austin Eng376f1c62017-05-30 20:03:44 -0400108 };
dan sinclair0f9c2d72021-01-19 14:18:51 +0000109 [[group(0), binding(0)]] var<uniform> camera : Camera;
Corentin Wallez4814bdb2020-11-26 16:39:46 +0000110
111 [[block]] struct Model {
Ben Claytonc5686842021-03-17 09:48:19 +0000112 matrix : mat4x4<f32>;
Corentin Wallez4814bdb2020-11-26 16:39:46 +0000113 };
dan sinclair0f9c2d72021-01-19 14:18:51 +0000114 [[group(0), binding(1)]] var<uniform> model : Model;
Corentin Wallez4814bdb2020-11-26 16:39:46 +0000115
116 [[location(0)]] var<in> pos : vec3<f32>;
117 [[location(1)]] var<in> col : vec3<f32>;
118
119 [[location(2)]] var<out> f_col : vec3<f32>;
120 [[builtin(position)]] var<out> Position : vec4<f32>;
121
122 [[stage(vertex)]] fn main() -> void {
Austin Eng376f1c62017-05-30 20:03:44 -0400123 f_col = col;
Corentin Wallez4814bdb2020-11-26 16:39:46 +0000124 Position = camera.proj * camera.view * model.matrix * vec4<f32>(pos, 1.0);
125 return;
Corentin Wallez2a1d8c22019-07-12 17:52:22 +0000126 })");
Austin Eng376f1c62017-05-30 20:03:44 -0400127
Corentin Wallez4814bdb2020-11-26 16:39:46 +0000128 wgpu::ShaderModule fsModule = utils::CreateShaderModuleFromWGSL(device, R"(
129 [[location(0)]] var<out> FragColor : vec4<f32>;
130 [[location(2)]] var<in> f_col : vec3<f32>;
131
132 [[stage(fragment)]] fn main() -> void {
133 FragColor = vec4<f32>(f_col, 1.0);
134 return;
Corentin Wallezb6fb5f32017-08-29 13:37:45 -0400135 })");
Austin Eng376f1c62017-05-30 20:03:44 -0400136
Corentin Wallez4814bdb2020-11-26 16:39:46 +0000137 wgpu::ShaderModule fsReflectionModule = utils::CreateShaderModuleFromWGSL(device, R"(
138 [[location(0)]] var<out> FragColor : vec4<f32>;
139 [[location(2)]] var<in> f_col : vec3<f32>;
140
141 [[stage(fragment)]] fn main() -> void {
142 FragColor = vec4<f32>(mix(f_col, vec3<f32>(0.5, 0.5, 0.5), vec3<f32>(0.5, 0.5, 0.5)), 1.0);
143 return;
Corentin Wallezb6fb5f32017-08-29 13:37:45 -0400144 })");
Austin Eng376f1c62017-05-30 20:03:44 -0400145
Corentin Wallez9895c272021-03-18 16:46:58 +0000146 wgpu::VertexAttribute attributes[2];
147 attributes[0].shaderLocation = 0;
148 attributes[0].offset = 0;
149 attributes[0].format = wgpu::VertexFormat::Float32x3;
150 attributes[1].shaderLocation = 1;
151 attributes[1].offset = 3 * sizeof(float);
152 attributes[1].format = wgpu::VertexFormat::Float32x3;
Yunchao He1ba2cb82019-03-28 05:09:01 +0000153
Corentin Wallez9895c272021-03-18 16:46:58 +0000154 wgpu::VertexBufferLayout vertexBufferLayout;
155 vertexBufferLayout.attributeCount = 2;
156 vertexBufferLayout.attributes = attributes;
157 vertexBufferLayout.arrayStride = 6 * sizeof(float);
Austin Eng376f1c62017-05-30 20:03:44 -0400158
Kai Ninomiya234becf2018-07-10 12:23:50 -0700159 auto bgl = utils::MakeBindGroupLayout(
160 device, {
Corentin Wallez9895c272021-03-18 16:46:58 +0000161 {0, wgpu::ShaderStage::Vertex, wgpu::BufferBindingType::Uniform},
162 {1, wgpu::ShaderStage::Vertex, wgpu::BufferBindingType::Uniform},
Kai Ninomiya234becf2018-07-10 12:23:50 -0700163 });
Austin Eng376f1c62017-05-30 20:03:44 -0400164
Corentin Wallez04863c42019-10-25 11:36:47 +0000165 wgpu::PipelineLayout pl = utils::MakeBasicPipelineLayout(device, &bgl);
Austin Eng376f1c62017-05-30 20:03:44 -0400166
Corentin Wallez04863c42019-10-25 11:36:47 +0000167 wgpu::BufferDescriptor cameraBufDesc;
Corentin Wallez82b65732018-08-22 15:37:29 +0200168 cameraBufDesc.size = sizeof(CameraData);
Corentin Wallez04863c42019-10-25 11:36:47 +0000169 cameraBufDesc.usage = wgpu::BufferUsage::CopyDst | wgpu::BufferUsage::Uniform;
Corentin Wallez82b65732018-08-22 15:37:29 +0200170 cameraBuffer = device.CreateBuffer(&cameraBufDesc);
Austin Eng376f1c62017-05-30 20:03:44 -0400171
172 glm::mat4 transform(1.0);
Corentin Wallez9e9e29f2019-08-27 08:21:39 +0000173 transformBuffer[0] = utils::CreateBufferFromData(device, &transform, sizeof(glm::mat4),
Corentin Wallez04863c42019-10-25 11:36:47 +0000174 wgpu::BufferUsage::Uniform);
Austin Eng376f1c62017-05-30 20:03:44 -0400175
176 transform = glm::translate(transform, glm::vec3(0.f, -2.f, 0.f));
Corentin Wallez9e9e29f2019-08-27 08:21:39 +0000177 transformBuffer[1] = utils::CreateBufferFromData(device, &transform, sizeof(glm::mat4),
Corentin Wallez04863c42019-10-25 11:36:47 +0000178 wgpu::BufferUsage::Uniform);
Austin Eng376f1c62017-05-30 20:03:44 -0400179
Kai Ninomiya2afea0c2020-07-10 20:33:08 +0000180 bindGroup[0] = utils::MakeBindGroup(
181 device, bgl,
182 {{0, cameraBuffer, 0, sizeof(CameraData)}, {1, transformBuffer[0], 0, sizeof(glm::mat4)}});
Austin Eng376f1c62017-05-30 20:03:44 -0400183
Kai Ninomiya2afea0c2020-07-10 20:33:08 +0000184 bindGroup[1] = utils::MakeBindGroup(
185 device, bgl,
186 {{0, cameraBuffer, 0, sizeof(CameraData)}, {1, transformBuffer[1], 0, sizeof(glm::mat4)}});
Austin Eng376f1c62017-05-30 20:03:44 -0400187
Kai Ninomiyac16a67a2017-07-27 18:30:57 -0700188 depthStencilView = CreateDefaultDepthStencilView(device);
Austin Eng376f1c62017-05-30 20:03:44 -0400189
Corentin Wallez9895c272021-03-18 16:46:58 +0000190 {
191 utils::ComboRenderPipelineDescriptor2 descriptor;
192 descriptor.vertex.module = vsModule;
193 descriptor.vertex.bufferCount = 1;
194 descriptor.vertex.buffers = &vertexBufferLayout;
Yan, Shaoboa4924272018-12-10 19:47:22 +0000195
Corentin Wallez9895c272021-03-18 16:46:58 +0000196 descriptor.layout = pl;
197 descriptor.cFragment.module = fsModule;
198 descriptor.cTargets[0].format = GetPreferredSwapChainTextureFormat();
Austin Eng376f1c62017-05-30 20:03:44 -0400199
Corentin Wallez9895c272021-03-18 16:46:58 +0000200 wgpu::DepthStencilState* depthStencil =
201 descriptor.EnableDepthStencil(wgpu::TextureFormat::Depth24PlusStencil8);
202 depthStencil->depthWriteEnabled = true;
203 depthStencil->depthCompare = wgpu::CompareFunction::Less;
Yan, Shaoboa4924272018-12-10 19:47:22 +0000204
Corentin Wallez9895c272021-03-18 16:46:58 +0000205 pipeline = device.CreateRenderPipeline2(&descriptor);
206 }
Austin Eng376f1c62017-05-30 20:03:44 -0400207
Corentin Wallez9895c272021-03-18 16:46:58 +0000208 {
209 utils::ComboRenderPipelineDescriptor2 descriptor;
210 descriptor.vertex.module = vsModule;
211 descriptor.vertex.bufferCount = 1;
212 descriptor.vertex.buffers = &vertexBufferLayout;
Yan, Shaoboa4924272018-12-10 19:47:22 +0000213
Corentin Wallez9895c272021-03-18 16:46:58 +0000214 descriptor.layout = pl;
215 descriptor.cFragment.module = fsModule;
216 descriptor.cTargets[0].format = GetPreferredSwapChainTextureFormat();
217
218 wgpu::DepthStencilState* depthStencil =
219 descriptor.EnableDepthStencil(wgpu::TextureFormat::Depth24PlusStencil8);
220 depthStencil->stencilFront.passOp = wgpu::StencilOperation::Replace;
221 depthStencil->stencilBack.passOp = wgpu::StencilOperation::Replace;
222 depthStencil->depthCompare = wgpu::CompareFunction::Less;
223
224 planePipeline = device.CreateRenderPipeline2(&descriptor);
225 }
226
227 {
228 utils::ComboRenderPipelineDescriptor2 descriptor;
229 descriptor.vertex.module = vsModule;
230 descriptor.vertex.bufferCount = 1;
231 descriptor.vertex.buffers = &vertexBufferLayout;
232
233 descriptor.layout = pl;
234 descriptor.cFragment.module = fsReflectionModule;
235 descriptor.cTargets[0].format = GetPreferredSwapChainTextureFormat();
236
237 wgpu::DepthStencilState* depthStencil =
238 descriptor.EnableDepthStencil(wgpu::TextureFormat::Depth24PlusStencil8);
239 depthStencil->stencilFront.compare = wgpu::CompareFunction::Equal;
240 depthStencil->stencilBack.compare = wgpu::CompareFunction::Equal;
241 depthStencil->stencilFront.passOp = wgpu::StencilOperation::Replace;
242 depthStencil->stencilBack.passOp = wgpu::StencilOperation::Replace;
243 depthStencil->depthWriteEnabled = true;
244 depthStencil->depthCompare = wgpu::CompareFunction::Less;
245
246 reflectionPipeline = device.CreateRenderPipeline2(&descriptor);
247 }
Austin Eng376f1c62017-05-30 20:03:44 -0400248
249 cameraData.proj = glm::perspective(glm::radians(45.0f), 1.f, 1.0f, 100.0f);
250}
251
Kai Ninomiya2afea0c2020-07-10 20:33:08 +0000252struct {
253 uint32_t a;
254 float b;
255} s;
Austin Eng376f1c62017-05-30 20:03:44 -0400256void frame() {
257 s.a = (s.a + 1) % 256;
Corentin Wallez83e779d2017-07-10 21:44:06 -0400258 s.b += 0.01f;
Kai Ninomiya2afea0c2020-07-10 20:33:08 +0000259 if (s.b >= 1.0f) {
260 s.b = 0.0f;
261 }
Austin Eng376f1c62017-05-30 20:03:44 -0400262
Kai Ninomiya2afea0c2020-07-10 20:33:08 +0000263 cameraData.view = glm::lookAt(glm::vec3(8.f * std::sin(glm::radians(s.b * 360.f)), 2.f,
264 8.f * std::cos(glm::radians(s.b * 360.f))),
265 glm::vec3(0.0f, 0.0f, 0.0f), glm::vec3(0.0f, 1.0f, 0.0f));
Austin Eng376f1c62017-05-30 20:03:44 -0400266
Corentin Wallez47a33412020-06-02 09:24:39 +0000267 queue.WriteBuffer(cameraBuffer, 0, &cameraData, sizeof(CameraData));
Austin Eng376f1c62017-05-30 20:03:44 -0400268
Corentin Wallez604072b2019-11-12 18:30:11 +0000269 wgpu::TextureView backbufferView = swapchain.GetCurrentTextureView();
270 utils::ComboRenderPassDescriptor renderPass({backbufferView}, depthStencilView);
Kai Ninomiyac16a67a2017-07-27 18:30:57 -0700271
Corentin Wallez04863c42019-10-25 11:36:47 +0000272 wgpu::CommandEncoder encoder = device.CreateCommandEncoder();
Corentin Wallez82fbccb2018-09-21 00:24:37 +0000273 {
Corentin Wallez04863c42019-10-25 11:36:47 +0000274 wgpu::RenderPassEncoder pass = encoder.BeginRenderPass(&renderPass);
Yan, Shaobo300eec02018-12-21 10:40:26 +0000275 pass.SetPipeline(pipeline);
Corentin Wallez70c8c102019-10-09 16:08:42 +0000276 pass.SetBindGroup(0, bindGroup[0]);
François Beaufort91b21422019-10-10 07:29:58 +0000277 pass.SetVertexBuffer(0, vertexBuffer);
Corentin Wallez5fad85b2020-11-25 08:54:14 +0000278 pass.SetIndexBuffer(indexBuffer, wgpu::IndexFormat::Uint32);
Corentin Wallez67b1ad72020-03-31 16:21:35 +0000279 pass.DrawIndexed(36);
Austin Eng376f1c62017-05-30 20:03:44 -0400280
Corentin Wallez82fbccb2018-09-21 00:24:37 +0000281 pass.SetStencilReference(0x1);
Yan, Shaobo300eec02018-12-21 10:40:26 +0000282 pass.SetPipeline(planePipeline);
Corentin Wallez70c8c102019-10-09 16:08:42 +0000283 pass.SetBindGroup(0, bindGroup[0]);
François Beaufort91b21422019-10-10 07:29:58 +0000284 pass.SetVertexBuffer(0, planeBuffer);
Corentin Wallez67b1ad72020-03-31 16:21:35 +0000285 pass.DrawIndexed(6);
Austin Eng376f1c62017-05-30 20:03:44 -0400286
Yan, Shaobo300eec02018-12-21 10:40:26 +0000287 pass.SetPipeline(reflectionPipeline);
François Beaufort91b21422019-10-10 07:29:58 +0000288 pass.SetVertexBuffer(0, vertexBuffer);
Corentin Wallez70c8c102019-10-09 16:08:42 +0000289 pass.SetBindGroup(0, bindGroup[1]);
Corentin Wallez67b1ad72020-03-31 16:21:35 +0000290 pass.DrawIndexed(36);
Austin Eng376f1c62017-05-30 20:03:44 -0400291
Corentin Wallez82fbccb2018-09-21 00:24:37 +0000292 pass.EndPass();
293 }
294
Corentin Wallez04863c42019-10-25 11:36:47 +0000295 wgpu::CommandBuffer commands = encoder.Finish();
Austin Eng376f1c62017-05-30 20:03:44 -0400296 queue.Submit(1, &commands);
Corentin Wallez604072b2019-11-12 18:30:11 +0000297 swapchain.Present();
Kai Ninomiyac16a67a2017-07-27 18:30:57 -0700298 DoFlush();
Austin Eng376f1c62017-05-30 20:03:44 -0400299}
300
301int main(int argc, const char* argv[]) {
Corentin Wallez9347e8f2017-06-19 13:15:13 -0400302 if (!InitSample(argc, argv)) {
Austin Eng376f1c62017-05-30 20:03:44 -0400303 return 1;
304 }
305 init();
306
307 while (!ShouldQuit()) {
308 frame();
Corentin Wallez134e0802017-07-17 17:13:57 -0400309 utils::USleep(16000);
Austin Eng376f1c62017-05-30 20:03:44 -0400310 }
311
312 // TODO release stuff
313}