From d5ce251cad67df18392e5b0a733d22b137cc2a93 Mon Sep 17 00:00:00 2001
From: Dylan Whichard <dylan@whichard.com>
Date: Fri, 20 Oct 2023 13:44:32 -0700
Subject: [PATCH 01/11] Remove old duplicate hdw-accel

---
 components/hdw-accel/CMakeLists.txt      |   3 -
 components/hdw-accel/hdw-accel.c         | 289 -----------------------
 components/hdw-accel/include/hdw-accel.h |  82 -------
 3 files changed, 374 deletions(-)
 delete mode 100644 components/hdw-accel/CMakeLists.txt
 delete mode 100644 components/hdw-accel/hdw-accel.c
 delete mode 100644 components/hdw-accel/include/hdw-accel.h

diff --git a/components/hdw-accel/CMakeLists.txt b/components/hdw-accel/CMakeLists.txt
deleted file mode 100644
index 421570635..000000000
--- a/components/hdw-accel/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-idf_component_register(SRCS ""
-                    INCLUDE_DIRS ""
-                    REQUIRES driver)
diff --git a/components/hdw-accel/hdw-accel.c b/components/hdw-accel/hdw-accel.c
deleted file mode 100644
index 7ff0a607d..000000000
--- a/components/hdw-accel/hdw-accel.c
+++ /dev/null
@@ -1,289 +0,0 @@
-//==============================================================================
-// Includes
-//==============================================================================
-
-#include <esp_log.h>
-
-#include "hdw-accel.h"
-
-//==============================================================================
-// Enums
-//==============================================================================
-
-typedef enum __attribute__((packed))
-{
-    QMA7981_REG_CHIP_ID     = 0x00,
-    QMA7981_REG_DX_L        = 0x01,
-    QMA7981_REG_DX_H        = 0x02,
-    QMA7981_REG_DY_L        = 0x03,
-    QMA7981_REG_DY_H        = 0x04,
-    QMA7981_REG_DZ_L        = 0x05,
-    QMA7981_REG_DZ_H        = 0x06,
-    QMA7981_REG_STEP_L      = 0x07,
-    QMA7981_REG_STEP_H      = 0x08,
-    QMA7981_REG_INT_STAT_0  = 0x0A,
-    QMA7981_REG_INT_STAT_1  = 0x0B,
-    QMA7981_REG_INT_STAT_4  = 0x0D,
-    QMA7981_REG_RANGE       = 0x0F,
-    QMA7981_REG_BAND_WIDTH  = 0x10,
-    QMA7981_REG_PWR_MANAGE  = 0x11,
-    QMA7981_REG_STEP_CONF_0 = 0x12,
-    QMA7981_REG_STEP_CONF_1 = 0x13,
-    QMA7981_REG_STEP_CONF_2 = 0x14,
-    QMA7981_REG_STEP_CONF_3 = 0x15,
-    QMA7981_REG_INT_EN_0    = 0x16,
-    QMA7981_REG_INT_EN_1    = 0x17,
-    QMA7981_REG_INT_MAP_0   = 0x19,
-    QMA7981_REG_INT_MAP_1   = 0x1A,
-    QMA7981_REG_INT_MAP_2   = 0x1B,
-    QMA7981_REG_INT_MAP_3   = 0x1C,
-    QMA7981_REG_SIG_STEP_TH = 0x1D,
-    QMA7981_REG_STEP        = 0x1F
-} qmaReg_t;
-
-//==============================================================================
-// Defines
-//==============================================================================
-
-#define QMA7981_ADDR 0x12
-
-//==============================================================================
-// Variables
-//==============================================================================
-
-static qma_range_t qma_range = QMA_RANGE_2G;
-static i2c_port_t i2c_port;
-
-//==============================================================================
-// Function Prototypes
-//==============================================================================
-
-static esp_err_t qma7981_read_byte(qmaReg_t reg_addr, uint8_t* data);
-static esp_err_t qma7981_write_byte(qmaReg_t reg_addr, uint8_t data);
-static esp_err_t qma7981_read_bytes(qmaReg_t reg_addr, size_t data_len, uint8_t* data);
-static int16_t signExtend10bit(uint16_t in);
-
-//==============================================================================
-// Functions
-//==============================================================================
-
-/**
- * @brief Initialize the accelerometer
- *
- * @param _i2c_port The i2c port to use for the accelerometer
- * @param sda The GPIO for the Serial DAta line
- * @param scl The GPIO for the Serial CLock line
- * @param pullup Either \c GPIO_PULLUP_DISABLE if there are external pullup resistors on SDA and SCL or \c
- * GPIO_PULLUP_ENABLE if internal pull-ups should be used
- * @param clkHz The frequency of the I2C clock
- * @param range The range to measure, between ::QMA_RANGE_2G and ::QMA_RANGE_32G
- * @param bandwidth The bandwidth to measure at, between ::QMA_BANDWIDTH_128_HZ and ::QMA_BANDWIDTH_1024_HZ
- * @return ESP_OK if the accelerometer initialized, or a non-zero value if it did not
- */
-esp_err_t initAccelerometer(i2c_port_t _i2c_port, gpio_num_t sda, gpio_num_t scl, gpio_pullup_t pullup, uint32_t clkHz,
-                            qma_range_t range, qma_bandwidth_t bandwidth)
-{
-    i2c_port          = _i2c_port;
-    esp_err_t ret_val = ESP_OK;
-
-    /* Install i2c driver */
-    i2c_config_t conf = {
-        .mode             = I2C_MODE_MASTER,
-        .sda_io_num       = sda,
-        .sda_pullup_en    = pullup,
-        .scl_io_num       = scl,
-        .scl_pullup_en    = pullup,
-        .master.clk_speed = clkHz,
-        .clk_flags        = I2C_SCLK_SRC_FLAG_FOR_NOMAL,
-    };
-    ret_val |= i2c_param_config(i2c_port, &conf);
-    ret_val |= i2c_driver_install(i2c_port, conf.mode, 0, 0, 0);
-
-    /* Exit sleep mode*/
-    ret_val |= qma7981_write_byte(QMA7981_REG_PWR_MANAGE, 0xC0);
-    vTaskDelay(pdMS_TO_TICKS(20));
-
-    /* Set range */
-    ret_val |= qma7981_write_byte(QMA7981_REG_RANGE, range);
-    /* Set bandwidth */
-    ret_val |= qma7981_write_byte(QMA7981_REG_BAND_WIDTH, bandwidth);
-
-    return ret_val;
-}
-
-/**
- * @brief Deinit the accelerometer (nothing to do)
- *
- * @return ESP_OK
- */
-esp_err_t deInitAccelerometer(void)
-{
-    return ESP_OK;
-}
-
-/**
- * @brief Read a single byte from the accelerometer
- *
- * @param reg_addr The register to read from
- * @param data The byte which was read is written here
- * @return ESP_OK if the byte was read, or a non-zero value if it was not
- */
-static esp_err_t qma7981_read_byte(qmaReg_t reg_addr, uint8_t* data)
-{
-    return qma7981_read_bytes(reg_addr, 1, data);
-}
-
-/**
- * @brief Read multiple bytes from the accelerometer
- *
- * @param reg_addr The register to read from
- * @param data_len The number of bytes to read
- * @param data The bytes which were read are written here
- * @return ESP_OK if the bytes were read, or a non-zero value if they were not
- */
-static esp_err_t qma7981_read_bytes(qmaReg_t reg_addr, size_t data_len, uint8_t* data)
-{
-    // Write the register to read from
-    i2c_cmd_handle_t cmdHandle = i2c_cmd_link_create();
-    i2c_master_start(cmdHandle);
-    i2c_master_write_byte(cmdHandle, QMA7981_ADDR << 1 | I2C_MASTER_WRITE, false);
-    i2c_master_write_byte(cmdHandle, reg_addr, false);
-    i2c_master_stop(cmdHandle);
-    esp_err_t err = i2c_master_cmd_begin(i2c_port, cmdHandle, 100);
-    i2c_cmd_link_delete(cmdHandle);
-
-    if (ESP_OK != err)
-    {
-        return err;
-    }
-
-    // Read from the register
-    cmdHandle = i2c_cmd_link_create();
-    i2c_master_start(cmdHandle);
-    i2c_master_write_byte(cmdHandle, QMA7981_ADDR << 1 | I2C_MASTER_READ, false);
-    i2c_master_read(cmdHandle, data, data_len, I2C_MASTER_LAST_NACK);
-    i2c_master_stop(cmdHandle);
-    err = i2c_master_cmd_begin(i2c_port, cmdHandle, 100);
-    i2c_cmd_link_delete(cmdHandle);
-
-    return err;
-}
-
-/**
- * @brief Write a single byte to the accelerometer
- *
- * @param reg_addr The register address to write to
- * @param data The byte to write
- * @return ESP_OK if the byte was written, or a non-zero value if it was not
- */
-static esp_err_t qma7981_write_byte(qmaReg_t reg_addr, uint8_t data)
-{
-    i2c_cmd_handle_t cmdHandle = i2c_cmd_link_create();
-    i2c_master_start(cmdHandle);
-
-    i2c_master_write_byte(cmdHandle, QMA7981_ADDR << 1, false);
-    i2c_master_write_byte(cmdHandle, reg_addr, false);
-    i2c_master_write_byte(cmdHandle, data, false);
-
-    i2c_master_stop(cmdHandle);
-    esp_err_t err = i2c_master_cmd_begin(i2c_port, cmdHandle, 100);
-    i2c_cmd_link_delete(cmdHandle);
-    return err;
-}
-
-/**
- * @brief Read and return the 16-bit step counter
- *
- * Note that this can be configured with ::QMA7981_REG_STEP_CONF_0 through ::QMA7981_REG_STEP_CONF_3
- *
- * @param data The step counter value is written here
- * @return ESP_OK if the step count was read, or a non-zero value if it was not
- */
-esp_err_t accelGetStep(uint16_t* data)
-{
-    esp_err_t ret_val = ESP_OK;
-    uint8_t step_h = 0, step_l = 0;
-
-    if (NULL == data)
-    {
-        return ESP_ERR_INVALID_ARG;
-    }
-
-    ret_val |= qma7981_read_byte(QMA7981_REG_STEP_L, &step_l);
-    ret_val |= qma7981_read_byte(QMA7981_REG_STEP_H, &step_h);
-
-    *data = (step_h << 8) + step_l;
-
-    return ret_val;
-}
-
-/**
- * @brief Set the accelerometer's measurement range
- *
- * @param range The range to measure, from ::QMA_RANGE_2G to ::QMA_RANGE_32G
- * @return ESP_OK if the range was set, or a non-zero value if it was not
- */
-esp_err_t accelSetRange(qma_range_t range)
-{
-    esp_err_t ret_val = qma7981_write_byte(QMA7981_REG_RANGE, range);
-    qma_range         = range;
-
-    return ret_val;
-}
-
-/**
- * @brief Read the current acceleration vector from the accelerometer and return
- * the vector through arguments. If the read fails, the last known values are
- * returned instead.
- *
- * @param x The X component of the acceleration vector is written here
- * @param y The Y component of the acceleration vector is written here
- * @param z The Z component of the acceleration vector is written here
- * @return ESP_OK if the acceleration was read, or a non-zero value if it was not
- */
-esp_err_t accelGetAccelVec(int16_t* x, int16_t* y, int16_t* z)
-{
-    static int16_t lastX = 0;
-    static int16_t lastY = 0;
-    static int16_t lastZ = 0;
-
-    // Read 6 bytes of data(0x00)
-    uint8_t raw_data[6];
-    // Do the read
-    esp_err_t ret_val = qma7981_read_bytes(QMA7981_REG_DX_L, 6, raw_data);
-
-    // If the read was successful
-    if (ESP_OK == ret_val)
-    {
-        // Sign extend the 10 bit value to 16 bits and save it as the last known value
-        // TODO The datasheet mentions this is a 14 bit reading, not a 10 bit one?
-        lastX = signExtend10bit(((raw_data[0] >> 6) | (raw_data[1]) << 2) & 0x03FF);
-        lastY = -signExtend10bit(((raw_data[2] >> 6) | (raw_data[3]) << 2) & 0x03FF);
-        lastZ = -signExtend10bit(((raw_data[4] >> 6) | (raw_data[5]) << 2) & 0x03FF);
-    }
-
-    // Copy out the acceleration value
-    *x = lastX;
-    *y = lastY;
-    *z = lastZ;
-
-    return ret_val;
-}
-
-/**
- * @brief Helper function to sign-extend a 10 bit two's complement number to 16 bit
- *
- * @param in The two's compliment number to sign-extend
- * @return The sign-extended two's compliment number
- */
-static int16_t signExtend10bit(uint16_t in)
-{
-    if (in & 0x200)
-    {
-        return (in | 0xFC00); // extend the sign bit all the way out
-    }
-    else
-    {
-        return (in & 0x01FF); // make sure the sign bits are cleared
-    }
-}
diff --git a/components/hdw-accel/include/hdw-accel.h b/components/hdw-accel/include/hdw-accel.h
deleted file mode 100644
index 2aa8f7312..000000000
--- a/components/hdw-accel/include/hdw-accel.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/*! \file hdw-accel.h
- *
- * \section accel_design Design Philosophy
- *
- * The accelerometer used is a QMA7981.
- * The datasheet can be found here: <a href="https://datasheet.lcsc.com/lcsc/2004281102_QST-QMA7981_C457290.pdf">QMA7981
- * Datasheet</a>.
- *
- * The accelerometer component does not automatically poll the accelerometer.
- * All it does is set up and configure the accelerometer, then it is up to the Swadge mode to query for acceleration as
- * appropriate.
- *
- * This component requires the I2C bus to be initialized, so it does that as well.
- * If other I2C peripherals are added in the future, common I2C bus initialization should be moved to a more common
- * location.
- *
- * \section accel_usage Usage
- *
- * You don't need to call initAccelerometer() or deInitAccelerometer(). The system does this the appropriate time.
- *
- * You do need to call accelGetAccelVec() to get the current acceleration vector.
- * If you want to poll this from your Swadge mode's main function, you may.
- *
- * You may call accelSetRange() if you want to adjust the measurement range.
- *
- * accelGetStep() exists, but it has not been tested, so use it with caution.
- * You may need to configure parameters related to step counting.
- *
- * \section accel_example Example
- *
- * \code{.c}
- * // Declare variables to receive acceleration
- * int16_t a_x, a_y, a_z;
- *
- * // Get the current acceleration
- * if(ESP_OK == accelGetAccelVec(&a_x, &a_y, &a_z))
- * {
- *     // Print data to debug logs
- *     printf("x: %"PRId16", y: %"PRId16", z:%"PRId16, a_x, a_y, a_z);
- * }
- * \endcode
- */
-
-#ifndef _HDW_ACCEL_H_
-#define _HDW_ACCEL_H_
-
-#include <stdint.h>
-
-#include <driver/i2c.h>
-#include <hal/gpio_types.h>
-#include <esp_err.h>
-
-/**
- * @brief The ranges for acceleration measurement from 2G to 32G (Earth gravity)
- */
-typedef enum
-{
-    QMA_RANGE_2G  = 0b0001, ///< Two G's of measurement range
-    QMA_RANGE_4G  = 0b0010, ///< Four G's of measurement range
-    QMA_RANGE_8G  = 0b0100, ///< Eight G's of measurement range
-    QMA_RANGE_16G = 0b1000, ///< Sixteen G's of measurement range
-    QMA_RANGE_32G = 0b1111, ///< Thirty-two G's of measurement range
-} qma_range_t;
-
-/**
- * @brief The bandwidth for acceleration measurement
- */
-typedef enum
-{
-    QMA_BANDWIDTH_128_HZ  = 0b111, ///< 128Hz bandwidth
-    QMA_BANDWIDTH_256_HZ  = 0b110, ///< 256Hz bandwidth
-    QMA_BANDWIDTH_1024_HZ = 0b101, ///< 1024Hz bandwidth
-} qma_bandwidth_t;
-
-esp_err_t initAccelerometer(i2c_port_t _i2c_port, gpio_num_t sda, gpio_num_t scl, gpio_pullup_t pullup, uint32_t clkHz,
-                            qma_range_t range, qma_bandwidth_t bandwidth);
-esp_err_t deInitAccelerometer(void);
-esp_err_t accelSetRange(qma_range_t range);
-esp_err_t accelGetAccelVec(int16_t* x, int16_t* y, int16_t* z);
-esp_err_t accelGetStep(uint16_t* data);
-
-#endif

From f18a29bcbcece6efbebb972fd66cbac291741874 Mon Sep 17 00:00:00 2001
From: Dylan Whichard <dylan@whichard.com>
Date: Fri, 20 Oct 2023 18:07:45 -0700
Subject: [PATCH 02/11] Add support for .obj files as .mdl files in spiffs

---
 main/CMakeLists.txt                           |   2 +
 main/asset_loaders/spiffs_model.c             | 105 +++++++
 main/asset_loaders/spiffs_model.h             |   6 +
 main/display/model.c                          | 185 +++++++++++
 main/display/model.h                          |  61 ++++
 main/modes/accelTest/accelTest.c              |  52 +--
 .../src/obj_processor.c                       | 295 ++++++++++++++++++
 .../src/obj_processor.h                       |   6 +
 .../src/spiffs_file_preprocessor.c            |   5 +
 9 files changed, 676 insertions(+), 41 deletions(-)
 create mode 100644 main/asset_loaders/spiffs_model.c
 create mode 100644 main/asset_loaders/spiffs_model.h
 create mode 100644 main/display/model.c
 create mode 100644 main/display/model.h
 create mode 100644 tools/spiffs_file_preprocessor/src/obj_processor.c
 create mode 100644 tools/spiffs_file_preprocessor/src/obj_processor.h

diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
index 46c667a82..6a37e4ac4 100644
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -3,6 +3,7 @@ idf_component_register(SRCS "swadge2024.c"
                             "asset_loaders/heatshrink_helper.c"
                             "asset_loaders/spiffs_font.c"
                             "asset_loaders/spiffs_json.c"
+                            "asset_loaders/spiffs_model.c"
                             "asset_loaders/spiffs_song.c"
                             "asset_loaders/spiffs_txt.c"
                             "asset_loaders/spiffs_wsg.c"
@@ -11,6 +12,7 @@ idf_component_register(SRCS "swadge2024.c"
                             "colorchord/embeddedOut.c"
                             "display/fill.c"
                             "display/font.c"
+                            "display/model.c"
                             "display/shapes.c"
                             "display/wsg.c"
                             "menu/menu.c"
diff --git a/main/asset_loaders/spiffs_model.c b/main/asset_loaders/spiffs_model.c
new file mode 100644
index 000000000..7224b177e
--- /dev/null
+++ b/main/asset_loaders/spiffs_model.c
@@ -0,0 +1,105 @@
+#include "model.h"
+
+#include "heatshrink_helper.h"
+
+#include <esp_heap_caps.h>
+#include <malloc.h>
+#include <stdbool.h>
+#include <stdint.h>
+
+bool loadModel(const char* name, model_t* model, bool useSpiRam)
+{
+    uint32_t decompressedSize = 0;
+    uint8_t* decompressedBuf = readHeatshrinkFile(name, &decompressedSize, useSpiRam);
+
+    if (NULL == decompressedBuf)
+    {
+        return false;
+    }
+
+    // Save the decompressed info into the model struct
+    // The first 2 bytes are version, currently unused
+    uint16_t version = (decompressedBuf[0] << 8) | decompressedBuf[1];
+
+    // Next 2 bytes are vertex count
+    uint16_t vertCount = (decompressedBuf[2] << 8) | decompressedBuf[3];
+
+    // Next 2 bytes are face count
+    uint16_t triCount = (decompressedBuf[4] << 8) | decompressedBuf[5];
+
+    // Next 2 bytes are line count
+    uint16_t lineCount = (decompressedBuf[6] << 8) | decompressedBuf[7];
+
+    // Then, the verts are immediately after the triCount
+    uint16_t vertOffset = 8;
+
+    // Then, triangles are immediately vertexes, padded to a 4-byte offset
+    uint16_t triOffset = vertOffset + 3 * vertCount;
+
+    // Then, triangle colors are after those
+    uint16_t triColOffset = (triOffset + 6 * triCount);
+
+    // Then, lines are last
+    uint16_t lineOffset = triColOffset + triCount;
+
+    model->vertCount = vertCount;
+    model->triCount = triCount;
+    model->lineCount = lineCount;
+
+    if (useSpiRam)
+    {
+        model->verts = heap_caps_malloc(sizeof(modelVert_t) * vertCount, MALLOC_CAP_SPIRAM);
+        model->tris = (triCount > 0) ? heap_caps_malloc(sizeof(modelTri_t) * triCount, MALLOC_CAP_SPIRAM) : NULL;
+        model->lines = (lineCount > 0) ? heap_caps_malloc(sizeof(modelLine_t) * lineCount, MALLOC_CAP_SPIRAM) : NULL;
+    }
+    else
+    {
+        model->verts = malloc(sizeof(modelVert_t) * vertCount);
+        model->tris = (triCount > 0) ? malloc(sizeof(modelTri_t) * triCount) : NULL;
+        model->lines = (lineCount > 0) ? malloc(sizeof(modelLine_t) * lineCount) : NULL;
+    }
+
+    uint16_t i;
+
+    // Write all the verts into the struct
+    for (i = 0; i < vertCount; i++)
+    {
+        model->verts[i][0] = (int8_t)decompressedBuf[vertOffset + i * sizeof(modelVert_t)];
+        model->verts[i][1] = (int8_t)decompressedBuf[vertOffset + i * sizeof(modelVert_t) + 1];
+        model->verts[i][2] = (int8_t)decompressedBuf[vertOffset + i * sizeof(modelVert_t) + 2];
+    }
+
+    // Write all the tris into the struct
+    for (i = 0; i < triCount; i++)
+    {
+        model->tris[i].verts[0] = decompressedBuf[triOffset + i * 6] << 8 | decompressedBuf[triOffset + i * 6 + 1];
+        model->tris[i].verts[1] = decompressedBuf[triOffset + i * 6 + 2] << 8 | decompressedBuf[triOffset + i * 6 + 3];
+        model->tris[i].verts[2] = decompressedBuf[triOffset + i * 6 + 4] << 8 | decompressedBuf[triOffset + i * 6 + 5];
+        model->tris[i].color = (paletteColor_t)decompressedBuf[triColOffset + i];
+    }
+
+    for (i = 0; i < lineCount; i++)
+    {
+        model->lines[i][0] = decompressedBuf[lineOffset + i * 4] << 8 | decompressedBuf[lineOffset + i * 4 + 1];
+        model->lines[i][1] = decompressedBuf[lineOffset + i * 4 + 2] << 8 | decompressedBuf[lineOffset + i * 4 + 3];
+    }
+
+    free(decompressedBuf);
+
+    return true;
+}
+
+void freeModel(model_t* model)
+{
+    free(model->verts);
+
+    if (NULL != model->tris)
+    {
+        free(model->tris);
+    }
+
+    if (NULL != model->lines)
+    {
+        free(model->lines);
+    }
+}
\ No newline at end of file
diff --git a/main/asset_loaders/spiffs_model.h b/main/asset_loaders/spiffs_model.h
new file mode 100644
index 000000000..f2d963eb1
--- /dev/null
+++ b/main/asset_loaders/spiffs_model.h
@@ -0,0 +1,6 @@
+#include "model.h"
+
+#include <stdbool.h>
+
+bool loadModel(const char* name, model_t* model, bool useSpiRam);
+void freeModel(model_t* model);
\ No newline at end of file
diff --git a/main/display/model.c b/main/display/model.c
new file mode 100644
index 000000000..5ccdd0125
--- /dev/null
+++ b/main/display/model.c
@@ -0,0 +1,185 @@
+// Includes
+#include "model.h"
+
+#include <stdlib.h>
+#include <stdint.h>
+#include <string.h>
+#include <esp_log.h>
+#include <inttypes.h>
+
+#include "hdw-imu.h"
+#include "hdw-tft.h"
+#include "shapes.h"
+#include "palette.h"
+
+// Static Function Prototypes
+static void intcross(int* p, const int* a, const int* b);
+static int zcompare(const int16_t *a, const int16_t* b);
+static unsigned julery_isqrt(unsigned long val);
+
+// Function Definitions
+static void intcross(int* p, const int* a, const int* b)
+{
+    float tx = a[1] * b[2] - a[2] * b[1];
+    float ty = a[2] * b[0] - a[0] * b[2];
+    p[2]     = a[0] * b[1] - a[1] * b[0];
+    p[1]     = ty;
+    p[0]     = tx;
+}
+
+static int zcompare(const int16_t *a, const int16_t* b)
+{
+	return a[0] - b[0];
+}
+
+static unsigned julery_isqrt(unsigned long val) {
+    unsigned long temp, g=0, b = 0x8000, bshft = 15;
+    do {
+        if (val >= (temp = (((g << 1) + b)<<bshft--))) {
+           g += b;
+           val -= temp;
+        }
+    } while (b >>= 1);
+    return g;
+}
+
+void drawModel(const model_t* model, float orient[4])
+{
+    // TODO: add translate parameter
+    // TODO: add x, y, w, and h as parameters for the drawing area
+    // TODO: not sure if lines work
+
+    uint16_t w = TFT_WIDTH;
+    uint16_t h = TFT_HEIGHT;
+    uint16_t verts_out[model->vertCount * 3];
+    char ctsbuffer[1024];
+	char *cts = ctsbuffer;
+
+    float plusy[3] = { 0, 1, 0 };
+
+	// Produce a model matrix from a quaternion.
+	float plusx_out[3] = { 0.9, 0, 0 };
+	float plusy_out[3] = { 0, 0.9, 0 };
+	float plusz_out[3] = { 0, 0, 0.9 };
+	mathRotateVectorByQuaternion( plusy, orient, plusy );
+	mathRotateVectorByQuaternion( plusy_out, orient, plusy_out );
+	mathRotateVectorByQuaternion( plusx_out, orient, plusx_out );
+	mathRotateVectorByQuaternion( plusz_out, orient, plusz_out );
+
+	//uint32_t cycStart = getCycleCount();
+
+	int i, vertices = 0;
+    for( i = 0; i < model->vertCount; i++ )
+	{
+		// Performing the transform this way is about 700us.
+        float bx = 1.0 * model->verts[i][0];
+		float by = 1.0 * model->verts[i][1];
+		float bz = 1.0 * model->verts[i][2];
+
+		float bunnyvert[3] = {
+			bx * plusx_out[0] + by * plusx_out[1] + bz * plusx_out[2],
+			bx * plusy_out[0] + by * plusy_out[1] + bz * plusy_out[2],
+			bx * plusz_out[0] + by * plusz_out[1] + bz * plusz_out[2]
+        };
+
+		verts_out[vertices*3+0] = bunnyvert[0] + w/2;
+        // Convert from right-handed to left-handed coordinate frame.
+		verts_out[vertices*3+1] =-bunnyvert[1] + h/2;
+		verts_out[vertices*3+2] = bunnyvert[2];
+		vertices++;
+	}
+
+    if (model->triCount > 0)
+    {
+        // Draw model with shaded triangles
+        int totalTrisThisFrame = 0;
+
+        // Z, Index, Color
+        int16_t trimap[model->triCount][3];
+
+        for( i = 0; i < model->triCount; i++)
+        {
+            int tv1 = model->tris[i].verts[0] * 3;
+            int tv2 = model->tris[i].verts[1] * 3;
+            int tv3 = model->tris[i].verts[2] * 3;
+            int col = model->tris[i].color;
+
+            int diff1[3] = {
+                verts_out[tv3+0] - verts_out[tv1+0],
+                verts_out[tv3+1] - verts_out[tv1+1],
+                verts_out[tv3+2] - verts_out[tv1+2] };
+            int diff2[3] = {
+                verts_out[tv2+0] - verts_out[tv1+0],
+                verts_out[tv2+1] - verts_out[tv1+1],
+                verts_out[tv2+2] - verts_out[tv1+2] };
+
+            // If we didn't need the normal, could do cross faster. int crossproduct = diff1[1] * diff2[0] - diff1[0] * diff2[1];
+
+            int icrp[3];
+            intcross( icrp, diff1, diff2 );
+            if( icrp[2] < 0 ) continue;
+            int z = verts_out[tv1+2] + verts_out[tv2+2] + verts_out[tv3+2];
+
+            int b = col % 6;
+            int g = ( col / 6 ) % 6;
+            int r = ( col / 36 ) % 6;
+
+            //float fcrp[3] = { icrp[0], icrp[1], icrp[2] };
+            int crpscalar = julery_isqrt( icrp[0] * icrp[0] + icrp[1] * icrp[1] + icrp[2] * icrp[2] );
+            icrp[0] = ( 1024 * icrp[0] ) / crpscalar;
+            icrp[1] = ( 1024 * icrp[1] ) / crpscalar;
+            icrp[2] = ( 1024 * icrp[2] ) / crpscalar;
+
+            int isum = icrp[0] - icrp[1] + icrp[2];
+
+            r = ( r * ( ( isum ) + 1200 ) * 100 ) >> 18;
+            g = ( g * ( ( isum ) + 1200 ) * 100 ) >> 18;
+            b = ( b * ( ( isum ) + 1200 ) * 100 ) >> 18;
+
+            if( r < 0 ) r = 0;
+            if( g < 0 ) g = 0;
+            if( b < 0 ) b = 0;
+            if( r > 5 ) r = 5;
+            if( g > 5 ) g = 5;
+            if( b > 5 ) b = 5;
+
+            trimap[totalTrisThisFrame][0] = z;
+            trimap[totalTrisThisFrame][1] = i;
+            trimap[totalTrisThisFrame][2] = r * 36 + g * 6 + b;
+            totalTrisThisFrame++;
+        }
+
+        qsort(trimap, totalTrisThisFrame, sizeof( trimap[0] ), (void*)zcompare );
+
+        for( i = 0; i < totalTrisThisFrame; i++)
+        {
+            int j = trimap[i][1];
+            int tv1 = model->tris[j].verts[0]*3;
+            int tv2 = model->tris[j].verts[1]*3;
+            int tv3 = model->tris[j].verts[2]*3;
+            int tcol = trimap[i][2];
+
+            drawTriangleOutlined(
+                verts_out[tv1+0], verts_out[tv1+1],
+                verts_out[tv2+0], verts_out[tv2+1],
+                verts_out[tv3+0], verts_out[tv3+1],
+                tcol, tcol );
+        }
+    }
+    else if (model->lineCount > 0)
+    {
+        // Draw wireframe with lines
+        for (i = 0; i < model->lineCount; i++)
+        {
+            uint16_t v1 = model->lines[i][0] * 3;
+            uint16_t v2 = model->lines[i][1] * 3;
+
+            float col = verts_out[v1 + 2] / 2000 + 8;
+            if (col > 5)
+                col = 5;
+            else if (col < 0)
+                continue;
+            drawLineFast(verts_out[v1], verts_out[v1 + 1], verts_out[v2], verts_out[v2 + 1], col);
+        }
+    }
+}
diff --git a/main/display/model.h b/main/display/model.h
new file mode 100644
index 000000000..ce943cc72
--- /dev/null
+++ b/main/display/model.h
@@ -0,0 +1,61 @@
+#ifndef _MODEL_H_
+#define _MODEL_H_
+
+#include <stdint.h>
+#include <float.h>
+
+#include "palette.h"
+
+typedef int8_t modelVert_t[3];
+typedef uint16_t modelLine_t[2];
+
+/**
+ * @brief Structure representing a triangle and its color
+ */
+typedef struct
+{
+    /// @brief Index of each of the triangle's vertices
+    uint16_t verts[3];
+
+    // Triangle color
+    paletteColor_t color;
+} modelTri_t;
+
+/**
+ * @brief Structure representing a 3D model
+ */
+typedef struct
+{
+    /// @brief The number of vertices in \c verts
+    uint16_t vertCount;
+
+    /// @brief An array defining the coordinates of all vertices
+    modelVert_t* verts;
+
+    /// @brief The number of triangles in \c tris
+    uint16_t triCount;
+
+    /// @brief An array defining the vertices and color of all triangles
+    modelTri_t* tris;
+
+    /// @brief The number of lines in \c lines
+    uint16_t lineCount;
+
+    /// @brief An array defining the model's lines
+    modelLine_t* lines;
+} model_t;
+
+/**
+ * @brief Render a 3D model to the screen
+ *
+ * @param model The 3D model to draw
+ * @param offset The location within the world
+ * @param orient A quaternion representing the orientation of the model
+ * @param x The X coordinate of the left side of the window to draw the model within
+ * @param y The Y coordinate of the top side of the window to draw the model within
+ * @param w The width of the window to draw the model within
+ * @param h The height of the window to draw the model within
+ */
+void drawModel(const model_t* model, float orient[4]);
+
+#endif
diff --git a/main/modes/accelTest/accelTest.c b/main/modes/accelTest/accelTest.c
index 8fa043193..8a01f5ddc 100644
--- a/main/modes/accelTest/accelTest.c
+++ b/main/modes/accelTest/accelTest.c
@@ -19,7 +19,8 @@
 #include "fill.h"
 #include "linked_list.h"
 #include "font.h"
-#include "bunny.h"
+#include "model.h"
+#include "spiffs_model.h"
 
 //==============================================================================
 // Defines
@@ -72,6 +73,8 @@ typedef struct
 {
     font_t ibm; ///< The font used to display text
 
+    model_t bunny; ///< The bunny 3D model
+
     uint16_t btnState; ///< The button state
 
     int16_t x; ///< The latest X accelerometer reading
@@ -158,6 +161,7 @@ static void accelTestEnterMode(void)
 
     // Load a font
     loadFont("ibm_vga8.font", &accelTest->ibm, false);
+    ESP_LOGI("Model", "loadModel(bunny.mdl) returned %s", loadModel("donut.mdl", &accelTest->bunny, true) ? "true" : "false");
 
     // writeTextlabels doesn't get reset by accelTestReset(), so initialize that here
     accelTest->writeTextLabels = true;
@@ -174,6 +178,9 @@ static void accelTestEnterMode(void)
  */
 static void accelTestExitMode(void)
 {
+    // Free the bunny 3D model
+    freeModel(&accelTest->bunny);
+
     // Free the font
     freeFont(&accelTest->ibm);
     free(accelTest);
@@ -258,46 +265,9 @@ static void accelTestHandleInput(void)
  */
 static void accelDrawBunny(void)
 {
-    // Produce a model matrix from a quaternion.
-    float plusx_out[3] = {1, 0, 0};
-    float plusy_out[3] = {0, 1, 0};
-    float plusz_out[3] = {0, 0, 1};
-
-    mathRotateVectorByQuaternion(plusy_out, LSM6DSL.fqQuat, plusy_out);
-    mathRotateVectorByQuaternion(plusx_out, LSM6DSL.fqQuat, plusx_out);
-    mathRotateVectorByQuaternion(plusz_out, LSM6DSL.fqQuat, plusz_out);
-
-    int16_t bunny_verts_out[sizeof(bunny_verts) / 3 / 2 * 3];
-    int i, vertices = 0;
-    for (i = 0; i < sizeof(bunny_verts) / 2; i += 3)
-    {
-        // Performingthe transform this way is about 700us.
-        float bx                          = bunny_verts[i + 2];
-        float by                          = bunny_verts[i + 1];
-        float bz                          = -bunny_verts[i + 0];
-        float bunnyvert[3]                = {bx * plusx_out[0] + by * plusx_out[1] + bz * plusx_out[2],
-                                             bx * plusy_out[0] + by * plusy_out[1] + bz * plusy_out[2],
-                                             bx * plusz_out[0] + by * plusz_out[1] + bz * plusz_out[2]};
-        bunny_verts_out[vertices * 3 + 0] = bunnyvert[0] / 250 + 280 / 2;
-        bunny_verts_out[vertices * 3 + 1]
-            = -bunnyvert[1] / 250 + 240 / 2; // Convert from right-handed to left-handed coordinate frame.
-        bunny_verts_out[vertices * 3 + 2] = bunnyvert[2];
-        vertices++;
-    }
-
-    int lines = 0;
-    for (i = 0; i < sizeof(bunny_lines); i += 2)
-    {
-        int v1    = bunny_lines[i] * 3;
-        int v2    = bunny_lines[i + 1] * 3;
-        float col = bunny_verts_out[v1 + 2] / 2000 + 8;
-        if (col > 5)
-            col = 5;
-        else if (col < 0)
-            continue;
-        drawLineFast(bunny_verts_out[v1], bunny_verts_out[v1 + 1], bunny_verts_out[v2], bunny_verts_out[v2 + 1], col);
-        lines++;
-    }
+    float orient[4];
+    memcpy(orient, LSM6DSL.fqQuat, sizeof(orient));
+    drawModel(&accelTest->bunny, orient);
 }
 
 /**
diff --git a/tools/spiffs_file_preprocessor/src/obj_processor.c b/tools/spiffs_file_preprocessor/src/obj_processor.c
new file mode 100644
index 000000000..c1b45e560
--- /dev/null
+++ b/tools/spiffs_file_preprocessor/src/obj_processor.c
@@ -0,0 +1,295 @@
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <malloc.h>
+#include <math.h>
+
+#include "obj_processor.h"
+#include "heatshrink_encoder.h"
+#include "fileUtils.h"
+#include "heatshrink_util.h"
+
+
+#define DEBUG_OBJ
+#define BUFLEN_DEFAULT 1024
+
+typedef float fvVert_t[6];
+typedef int iv_t[3];
+typedef int ln_t[2];
+
+#ifdef DEBUG_OBJ
+#define DEBUG_PRINT(...) printf(__VA_ARGS__)
+#else
+#define DEBUG_PRINT(...)
+#endif
+
+#define DEBUG_SIZE_CHANGE(arr, count, size) DEBUG_PRINT("Increased size of " # arr " to %d because it has %d members\n", size, count)
+
+#define CHECK_ARR(arr, count, size, elmsize) do \
+{ \
+    if (count + 1 >= size) \
+    { \
+        size *= 2; \
+        DEBUG_SIZE_CHANGE(arr, count, size); \
+        void* _tmp##arr = realloc(arr, size * elmsize); \
+        if (_tmp##arr != NULL) \
+        { \
+            arr = _tmp##arr; \
+        } \
+    } \
+} while(0)
+
+void process_obj(const char* infile, const char* outdir)
+{
+    /* Determine if the output file already exists */
+    char outFilePath[128] = {0};
+    strcat(outFilePath, outdir);
+    strcat(outFilePath, "/");
+    strcat(outFilePath, get_filename(infile));
+
+    /* Change the file extension */
+    char* dotptr = strrchr(outFilePath, '.');
+    snprintf(&dotptr[1], strlen(dotptr), "mdl");
+
+    /* Open input file */
+    FILE * f = fopen( infile, "r" );
+	char buffer[1024];
+	char * line;
+
+    /* Min and Max dimensions */
+    float minB[3] = { 1e20, 1e20, 1e20 };
+	float maxB[3] = {-1e20,-1e20,-1e20 };
+
+    // Absolute max in any dimension
+	float maxextent = -1e20;
+
+    // Read verts
+    int fvSize = BUFLEN_DEFAULT;
+	fvVert_t* fvVerts = malloc(fvSize * sizeof(fvVert_t));
+	int fvc = 0;
+
+    int ivSize = BUFLEN_DEFAULT;
+	iv_t* ivS = malloc(ivSize * sizeof(iv_t));
+	int ivc = 0;
+
+    int lnSize = BUFLEN_DEFAULT;
+    ln_t* lines = malloc(lnSize * sizeof(ln_t));
+    int lnc = 0;
+
+	while (NULL != (line = fgets( buffer, sizeof(buffer)-1, f )))
+	{
+        /* Read vertex line */
+		if( line[0] == 'v' )
+		{
+            // Make sure the fvVerts array has room for another one
+            CHECK_ARR(fvVerts, fvc, fvSize, sizeof(fvVert_t));
+			float fv[6];
+			sscanf( line + 2, "%f %f %f %f %f %f", fv+0, fv+1, fv+2, fv+3, fv+4, fv+5 );
+
+			if( fv[0] < minB[0] ) minB[0] = fv[0];
+			if( fv[0] > maxB[0] ) maxB[0] = fv[0];
+
+			if( fv[1] < minB[1] ) minB[1] = fv[1];
+			if( fv[1] > maxB[1] ) maxB[1] = fv[1];
+
+			if( fv[2] < minB[2] ) minB[2] = fv[2];
+			if( fv[2] > maxB[2] ) maxB[2] = fv[2];
+
+			memcpy( &fvVerts[fvc++], fv, sizeof( fv ) );
+		}
+
+        /* Read triangle line */
+		if( line[0] == 'f' )
+		{
+            // Make sure the ivS array has enough room for another one
+            CHECK_ARR(ivS, ivc, ivSize, sizeof(iv_t));
+
+			int vv[3];
+			sscanf( line + 2, "%d %d %d", vv+0, vv+1, vv+2 );
+
+            // read values are 1-indexed, decrement to make them 0-indexed
+			vv[0]--;
+			vv[1]--;
+			vv[2]--;
+
+			memcpy( ivS[ivc++], vv, sizeof( vv ) );
+		}
+
+        /* Read line entry */
+        if (line[0] == 'l')
+        {
+            CHECK_ARR(lines, lnc, lnSize, sizeof(ln_t));
+
+            ln_t ln;
+            sscanf( line + 2, "%d %d", &ln[0], &ln[1]);
+
+            // Convert to 0-indexed
+            ln[0]--;
+            ln[1]--;
+
+            memcpy(lines[lnc++], ln, sizeof(ln));
+        }
+        /* Ignore comments and also everything else */
+	}
+
+    DEBUG_PRINT("Read %d vertices and %d faces from obj\n", fvc, ivc);
+
+    int iAliasedVert[fvc];
+
+    // the final list of verts
+    int cvsize = BUFLEN_DEFAULT;
+	float* compverts = malloc(cvsize * sizeof(float) * 3);
+	int cvct = 0;
+	int i, j;
+	for( i = 0; i < fvc; i++ )
+	{
+		float * fvcr = fvVerts[i];
+
+        // Look for any previous verts that overlap this one close enough
+		for( j = 0; j < cvct; j++ )
+		{
+			float dx = fvcr[0] - compverts[j*3 + 0];
+			float dy = fvcr[1] - compverts[j*3 + 1];
+			float dz = fvcr[2] - compverts[j*3 + 2];
+			float diff = sqrtf( dx*dx + dy*dy + dz*dz );
+			if( diff < 0.0001 )
+			{
+                // Match found!
+				break;
+			}
+		}
+		if( j == cvct )
+		{
+			// No match found - new one!
+            CHECK_ARR(compverts, cvct, cvsize, sizeof(float) * 3);
+			memcpy( &compverts[3 * cvct++], fvcr, sizeof(float) * 3 );
+            /*DEBUG_PRINT("Final vert #%d: (%.2f, %.2f, %.2f) --> (%d, %d, %d)\n", cvct - 1,
+                        fvVerts[j][0], fvVerts[j][1], fvVerts[j][2],
+                        compverts[(cvct - 1) * 3], compverts[(cvct - 1) * 3 + 1], compverts[(cvct - 1) * 3 + 2]);*/
+		}
+		iAliasedVert[i] = j;
+	}
+
+    DEBUG_PRINT("Combined %d vertices, final number is %d vertices\n", fvc - cvct, cvct);
+
+	if( -minB[0] > maxextent ) maxextent = -minB[0];
+	if( -minB[1] > maxextent ) maxextent = -minB[1];
+	if( -minB[2] > maxextent ) maxextent = -minB[2];
+	if(  maxB[0] > maxextent ) maxextent =  maxB[0];
+	if(  maxB[1] > maxextent ) maxextent =  maxB[1];
+	if(  maxB[2] > maxextent ) maxextent =  maxB[2];
+
+	float scale = 127.9 / maxextent;
+
+    // Allocate raw file buffer
+    // Structure: 2 bytes version
+    //            2 bytes #verts
+    //            2 bytes #tris
+    //            2 bytes #lines
+    //                verts 3B each (int8 x 3)
+    //                triVerts: {2B v0, 2B v1, 2B v2}
+    //                triCols: { 1B Color (uint8 palette) }
+    //                lines: {2B v0, 2B v1}
+
+    // face verts/colors
+	int ivR[ivc][4];
+
+	for( i = 0; i < ivc; i++ )
+	{
+		int i0 = ivS[i][0];
+		int i1 = ivS[i][1];
+		int i2 = ivS[i][2];
+
+		float * color = &fvVerts[i0][3];
+		int fc = ((int)(color[2] * 5.9)) + ((int)(color[1] * 5.9)) * 6 + ((int)(color[0] * 5.9)) * 36;
+		int * face = ivR[i];
+
+        face[0] = iAliasedVert[i0];
+		face[1] = iAliasedVert[i1];
+		face[2] = iAliasedVert[i2];
+		face[3] = fc;
+	}
+
+    int outBufSize = 2 + 2 + 2 + 2 + (cvct * 3) + 3 + ivc * 7 + lnc * 4;
+    uint8_t* outBuf = malloc(outBufSize);
+    uint8_t* bp = outBuf;
+
+    // Write version
+    *bp++ = 0;
+    *bp++ = 1;
+
+    // Write number of verts
+    *bp++ = (cvct >> 8) & 0xFF;
+    *bp++ = cvct & 0xFF;
+
+    // Write number of tris
+    *bp++ = (ivc >> 8) & 0xFF;
+    *bp++ = ivc & 0xFF;
+
+    // Write number of lines
+    *bp++ = (lnc >> 8) & 0xFF;
+    *bp++ = lnc & 0xFF;
+
+#ifdef DEBUG_OBJ
+    printf("\nint8_t verts[] = {\n");
+
+	for( i = 0; i < cvct; i++ )
+	{
+		printf("\t%d, %d, %d,\n",
+               (int8_t)(compverts[i*3 + 0]*scale),
+               (int8_t)(compverts[i*3 + 1]*scale),
+               (int8_t)(compverts[i*3 + 2]*scale));
+	}
+	printf("};\nuint8_t tris[] = {\n");
+	for( i = 0; i < ivc; i++ )
+	{
+		printf("\t%d, %d, %d, %d,\n", ivR[i][0], ivR[i][1], ivR[i][2], ivR[i][3]);
+	}
+	printf("};\n" );
+#endif
+
+    // Write verts
+	for( i = 0; i < cvct; i++ )
+	{
+        int8_t outVert[3];
+
+        outVert[0] = (int8_t)(compverts[i*3 + 0]*scale);
+        outVert[1] = (int8_t)(compverts[i*3 + 1]*scale);
+        outVert[2] = (int8_t)(compverts[i*3 + 2]*scale);
+
+        *bp++ = outVert[0];
+        *bp++ = outVert[1];
+        *bp++ = outVert[2];
+	}
+
+	// Write triangle vertexes
+	for( i = 0; i < ivc; i++ )
+	{
+        *bp++ = (ivR[i][0] >> 8) & 0xFF;
+        *bp++ = ivR[i][0] & 0xFF;
+        *bp++ = (ivR[i][1] >> 8) & 0xFF;
+        *bp++ = ivR[i][1] & 0xFF;
+        *bp++ = (ivR[i][2] >> 8) & 0xFF;
+        *bp++ = ivR[i][2] & 0xFF;
+	}
+
+    // Write triangle colors
+    for (i = 0; i < ivc; i++)
+    {
+        *bp++ = (uint8_t)(ivR[i][3] & 0xFF);
+    }
+
+    // Write lines
+    for (i = 0; i < lnc; i++)
+    {
+        *bp++ = (lines[i][0] >> 8) & 0xFF;
+        *bp++ = lines[i][0] & 0xFF;
+        *bp++ = (lines[i][1] >> 8) & 0xFF;
+        *bp++ = lines[i][1] & 0xFF;
+    }
+
+    printf("Writing compressed model to %s\n", outFilePath);
+    // Write compressed output file
+    writeHeatshrinkFile(outBuf, outBufSize, outFilePath);
+}
\ No newline at end of file
diff --git a/tools/spiffs_file_preprocessor/src/obj_processor.h b/tools/spiffs_file_preprocessor/src/obj_processor.h
new file mode 100644
index 000000000..b931ea1c7
--- /dev/null
+++ b/tools/spiffs_file_preprocessor/src/obj_processor.h
@@ -0,0 +1,6 @@
+#ifndef _OBJ_PROCESSOR_H_
+#define _OBJ_PROCESSOR_H_
+
+void process_obj(const char* infile, const char* outdir);
+
+#endif
\ No newline at end of file
diff --git a/tools/spiffs_file_preprocessor/src/spiffs_file_preprocessor.c b/tools/spiffs_file_preprocessor/src/spiffs_file_preprocessor.c
index eb0959789..8da00975a 100644
--- a/tools/spiffs_file_preprocessor/src/spiffs_file_preprocessor.c
+++ b/tools/spiffs_file_preprocessor/src/spiffs_file_preprocessor.c
@@ -17,6 +17,7 @@
 #include "txt_processor.h"
 #include "midi_processor.h"
 #include "rmd_processor.h"
+#include "obj_processor.h"
 
 const char* outDirName = NULL;
 
@@ -91,6 +92,10 @@ static int processFile(const char* fpath, const struct stat* st __attribute__((u
             {
                 process_rmd(fpath, outDirName);
             }
+            else if (endsWith(fpath, ".obj"))
+            {
+                process_obj(fpath, outDirName);
+            }
             break;
         }
         case FTW_D: // directory

From 32280d3fa8636ff96202265a86a72754f3a88d09 Mon Sep 17 00:00:00 2001
From: Dylan Whichard <dylan@whichard.com>
Date: Sat, 21 Oct 2023 10:37:31 -0700
Subject: [PATCH 03/11] Add renderer init/deinit functions for allocating
 buffers

---
 main/display/model.c                          | 50 ++++++++++++++++---
 main/display/model.h                          | 28 +++++++++++
 main/modes/accelTest/accelTest.c              | 30 ++++++++++-
 .../src/obj_processor.c                       |  4 +-
 4 files changed, 102 insertions(+), 10 deletions(-)

diff --git a/main/display/model.c b/main/display/model.c
index 5ccdd0125..0b017b92b 100644
--- a/main/display/model.c
+++ b/main/display/model.c
@@ -12,6 +12,13 @@
 #include "shapes.h"
 #include "palette.h"
 
+// do a funky typedef so we can still define trimap as a 2D array
+typedef uint16_t trimap_t[3];
+
+// Variables
+static uint16_t* verts_out = NULL;
+static trimap_t* trimap = NULL;
+
 // Static Function Prototypes
 static void intcross(int* p, const int* a, const int* b);
 static int zcompare(const int16_t *a, const int16_t* b);
@@ -43,6 +50,43 @@ static unsigned julery_isqrt(unsigned long val) {
     return g;
 }
 
+void initRenderer(const model_t* model)
+{
+    initRendererCustom(model->vertCount, model->triCount);
+}
+
+void initRendererCustom(uint16_t maxVerts, uint16_t maxFaces)
+{
+    // Free any existing buffers
+    deinitRenderer();
+
+    ESP_LOGI("Model", "Allocating %" PRIu64 " bytes for verts and faces", (uint64_t)((maxVerts + maxFaces) * 3 * sizeof(uint16_t)));
+
+    // Allocate the new buffers
+    verts_out = malloc(maxVerts * 3 * sizeof(uint16_t));
+    trimap = malloc(maxFaces * 3 * sizeof(uint16_t));
+
+    if (verts_out == NULL || trimap == NULL)
+    {
+        ESP_LOGI("Model", "Renderer could not allocate the buffers :(");
+    }
+}
+
+void deinitRenderer(void)
+{
+    if (NULL != verts_out)
+    {
+        free(verts_out);
+        verts_out = NULL;
+    }
+
+    if (NULL != trimap)
+    {
+        free(trimap);
+        trimap = NULL;
+    }
+}
+
 void drawModel(const model_t* model, float orient[4])
 {
     // TODO: add translate parameter
@@ -51,9 +95,6 @@ void drawModel(const model_t* model, float orient[4])
 
     uint16_t w = TFT_WIDTH;
     uint16_t h = TFT_HEIGHT;
-    uint16_t verts_out[model->vertCount * 3];
-    char ctsbuffer[1024];
-	char *cts = ctsbuffer;
 
     float plusy[3] = { 0, 1, 0 };
 
@@ -94,9 +135,6 @@ void drawModel(const model_t* model, float orient[4])
         // Draw model with shaded triangles
         int totalTrisThisFrame = 0;
 
-        // Z, Index, Color
-        int16_t trimap[model->triCount][3];
-
         for( i = 0; i < model->triCount; i++)
         {
             int tv1 = model->tris[i].verts[0] * 3;
diff --git a/main/display/model.h b/main/display/model.h
index ce943cc72..f7b712698 100644
--- a/main/display/model.h
+++ b/main/display/model.h
@@ -45,9 +45,37 @@ typedef struct
     modelLine_t* lines;
 } model_t;
 
+/**
+ * @brief Initializes the renderer, allocating temporary buffers needed to draw efficiently.
+ *
+ * Enough space will be allocated for drawing the given model based on its number of elements.
+ * Other models may be rendered, as long as they do not have more vertices or triangles. If
+ * multiple models with varying numbers of vertices and faces will be drawn, initRendererCustom()
+ * should be called with the maximum numbe of vertices and maximum number of faces for any single
+ * model.
+ *
+ */
+void initRenderer(const model_t* model);
+
+/**
+ * @brief Initializes the renderer, allocating temporary buffers needed to draw efficiently.
+ *
+ * @param maxVerts The maximum number of vertices in a model that will be drawn
+ * @param maxFaces The maximum number of lines in a model that will be drawn
+ */
+void initRendererCustom(uint16_t maxVerts, uint16_t maxFaces);
+
+/**
+ * @brief Deinitializes the renderer, clearing any temporary buffers that were allocated
+ *
+ */
+void deinitRenderer(void);
+
 /**
  * @brief Render a 3D model to the screen
  *
+ * initRenderer() or initRendererCustom() must be called once before rendering anything.
+ *
  * @param model The 3D model to draw
  * @param offset The location within the world
  * @param orient A quaternion representing the orientation of the model
diff --git a/main/modes/accelTest/accelTest.c b/main/modes/accelTest/accelTest.c
index 8a01f5ddc..8ccb335aa 100644
--- a/main/modes/accelTest/accelTest.c
+++ b/main/modes/accelTest/accelTest.c
@@ -74,6 +74,9 @@ typedef struct
     font_t ibm; ///< The font used to display text
 
     model_t bunny; ///< The bunny 3D model
+    model_t donut; ///< The donut 3D model
+
+    bool drawDonut;
 
     uint16_t btnState; ///< The button state
 
@@ -161,7 +164,11 @@ static void accelTestEnterMode(void)
 
     // Load a font
     loadFont("ibm_vga8.font", &accelTest->ibm, false);
-    ESP_LOGI("Model", "loadModel(bunny.mdl) returned %s", loadModel("donut.mdl", &accelTest->bunny, true) ? "true" : "false");
+    ESP_LOGI("Model", "loadModel(bunny.mdl) returned %s", loadModel("bunny.mdl", &accelTest->bunny, true) ? "true" : "false");
+    loadModel("donut.mdl", &accelTest->donut, true);
+
+    // Ensure there's sufficient space to draw either model
+    initRendererCustom(MAX(accelTest->bunny.vertCount, accelTest->donut.vertCount), MAX(accelTest->bunny.triCount, accelTest->donut.triCount));
 
     // writeTextlabels doesn't get reset by accelTestReset(), so initialize that here
     accelTest->writeTextLabels = true;
@@ -178,9 +185,15 @@ static void accelTestEnterMode(void)
  */
 static void accelTestExitMode(void)
 {
+    // Free renderer memory
+    deinitRenderer();
+
     // Free the bunny 3D model
     freeModel(&accelTest->bunny);
 
+    // Free the king donut 3D model
+    freeModel(&accelTest->donut);
+
     // Free the font
     freeFont(&accelTest->ibm);
     free(accelTest);
@@ -210,6 +223,11 @@ static void accelTestMainLoop(int64_t elapsedUs)
         {
             accelTest->writeTextLabels = !accelTest->writeTextLabels;
         }
+
+        if (evt.down && (PB_B == evt.button))
+        {
+            accelTest->drawDonut = !accelTest->drawDonut;
+        }
     }
 
     // Do update each loop
@@ -267,7 +285,15 @@ static void accelDrawBunny(void)
 {
     float orient[4];
     memcpy(orient, LSM6DSL.fqQuat, sizeof(orient));
-    drawModel(&accelTest->bunny, orient);
+
+    if (accelTest->drawDonut)
+    {
+        drawModel(&accelTest->donut, orient);
+    }
+    else
+    {
+        drawModel(&accelTest->bunny, orient);
+    }
 }
 
 /**
diff --git a/tools/spiffs_file_preprocessor/src/obj_processor.c b/tools/spiffs_file_preprocessor/src/obj_processor.c
index c1b45e560..fd737db5d 100644
--- a/tools/spiffs_file_preprocessor/src/obj_processor.c
+++ b/tools/spiffs_file_preprocessor/src/obj_processor.c
@@ -11,7 +11,7 @@
 #include "heatshrink_util.h"
 
 
-#define DEBUG_OBJ
+//#define DEBUG_OBJ
 #define BUFLEN_DEFAULT 1024
 
 typedef float fvVert_t[6];
@@ -99,7 +99,7 @@ void process_obj(const char* infile, const char* outdir)
 			memcpy( &fvVerts[fvc++], fv, sizeof( fv ) );
 		}
 
-        /* Read triangle line */
+        /* Read face line */
 		if( line[0] == 'f' )
 		{
             // Make sure the ivS array has enough room for another one

From c5844136331fb7507f698145adafd9663e055f18 Mon Sep 17 00:00:00 2001
From: Dylan Whichard <dylan@whichard.com>
Date: Sat, 21 Oct 2023 11:00:13 -0700
Subject: [PATCH 04/11] Don't gitignore anything in assets

---
 .gitignore | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.gitignore b/.gitignore
index 3d157204e..d28fdece8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -80,4 +80,5 @@ tools/rayMapEditor/autosave.rmd
 perf.data
 *.stackdump
 coverage/
-coverage.info
\ No newline at end of file
+coverage.info
+!/assets/**

From 0cd5d37b6a07998f35f7d9ed9703e8cdfd726d1d Mon Sep 17 00:00:00 2001
From: Dylan Whichard <dylan@whichard.com>
Date: Sat, 21 Oct 2023 11:01:11 -0700
Subject: [PATCH 05/11] Add bunny and donut 3D obj assets

---
 assets/3d/bunny.obj |  947 ++++++++++++++++++++++
 assets/3d/donut.obj | 1836 +++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 2783 insertions(+)
 create mode 100644 assets/3d/bunny.obj
 create mode 100644 assets/3d/donut.obj

diff --git a/assets/3d/bunny.obj b/assets/3d/bunny.obj
new file mode 100644
index 000000000..e0f6907d5
--- /dev/null
+++ b/assets/3d/bunny.obj
@@ -0,0 +1,947 @@
+# Blender v3.0.1 OBJ File: ''
+# www.blender.org
+mtllib bunny_out.mtl
+o bunny_in
+v -0.066510 0.040490 0.013845
+v -0.061102 0.012863 0.002506
+v -0.003613 0.029887 0.008373
+v -0.005212 0.022265 0.027687
+v -0.037086 -0.050182 0.037782
+v 0.032529 0.035221 0.017166
+v -0.032844 0.055743 0.030349
+v -0.058157 -0.023425 0.008593
+v -0.062206 -0.015591 0.008836
+v -0.065676 -0.005435 0.017198
+v 0.079356 -0.024382 0.018854
+v 0.085032 -0.028166 0.015824
+v -0.022154 0.072937 -0.007019
+v -0.046338 0.067219 -0.015228
+v -0.037962 0.065307 -0.024828
+v -0.038911 0.073940 -0.048696
+v -0.024158 -0.062746 -0.016193
+v 0.003223 0.001366 -0.027508
+v -0.016062 -0.004910 -0.025392
+v 0.017987 0.033175 0.022493
+v 0.015809 0.032889 -0.001409
+v -0.043712 -0.062792 -0.008789
+v -0.067562 0.020590 0.025463
+v -0.058494 -0.014652 0.028021
+v -0.008146 -0.043884 -0.012506
+v -0.043457 0.019756 -0.012165
+v -0.063958 0.056310 0.017519
+v -0.053921 0.056458 0.030356
+v 0.035090 0.002848 0.046031
+v -0.065298 0.036716 0.002826
+v 0.039313 0.032824 -0.000872
+v 0.040981 -0.002070 -0.027076
+v -0.045943 0.059184 -0.000697
+v -0.052287 0.057296 -0.004362
+v -0.065473 0.003348 0.009420
+v -0.054838 0.077514 -0.048406
+v -0.026349 0.054508 0.010164
+v -0.031425 0.059076 0.009221
+v -0.070704 0.022015 0.015416
+v -0.057710 0.032936 0.050024
+v -0.051488 0.043397 0.047050
+v -0.050505 0.083821 -0.054326
+v -0.041866 0.084627 -0.061256
+v -0.007015 -0.054942 0.049119
+v -0.025819 -0.029341 -0.015747
+v -0.031001 -0.016212 -0.023518
+v -0.021740 -0.019491 -0.021215
+v -0.047355 0.044418 -0.010384
+v -0.039208 0.054894 -0.005883
+v -0.026417 -0.049815 0.015349
+v -0.026552 -0.041368 0.015025
+v -0.047011 0.017807 0.049776
+v 0.006779 -0.010878 -0.041632
+v 0.020206 -0.014643 -0.040244
+v -0.012170 0.054170 -0.002755
+v -0.061787 -0.010350 -0.002779
+v -0.039065 0.045879 -0.009832
+v -0.042408 0.023666 0.050048
+v -0.036618 0.077377 -0.064477
+v 0.001453 0.077585 -0.023513
+v -0.014547 0.061070 -0.014028
+v 0.068507 0.002810 0.001056
+v 0.073500 -0.041653 -0.008778
+v 0.078938 -0.047684 0.001320
+v -0.045746 0.047131 -0.018560
+v 0.021654 0.014308 0.041099
+v -0.025987 0.045907 0.000408
+v -0.044876 -0.008038 0.041157
+v -0.050778 0.009878 0.034079
+v 0.021004 -0.042077 0.052603
+v 0.062632 -0.059812 0.008999
+v 0.067077 -0.007662 -0.009475
+v -0.038206 -0.061847 0.017996
+v -0.039793 0.014838 0.035507
+v 0.033863 -0.008743 0.053435
+v 0.029413 -0.036610 0.053071
+v -0.064990 0.040115 0.026306
+v -0.068516 0.024693 0.039289
+v -0.039087 0.056480 -0.037355
+v 0.013747 -0.049490 0.045873
+v -0.025696 0.045206 0.008830
+v 0.041011 -0.040898 0.047273
+v 0.035145 -0.051850 0.042963
+v 0.085298 -0.034172 0.004185
+v -0.038644 0.065787 -0.061165
+v -0.035444 -0.004484 0.042910
+v 0.043567 0.005747 0.042820
+v -0.038389 0.055472 0.033210
+v -0.034792 -0.020002 0.040621
+v -0.047391 -0.023088 0.033517
+v 0.070878 -0.025195 0.001424
+v 0.040279 -0.018354 0.051141
+v -0.022153 0.059370 0.005909
+v -0.032491 -0.039615 0.003563
+v 0.067866 -0.046449 0.030420
+v 0.015457 0.071982 -0.025766
+v 0.060185 0.015663 0.021879
+v 0.061550 -0.042822 0.029897
+v -0.032720 0.050621 -0.003795
+v 0.045288 -0.061066 -0.004460
+v -0.032289 -0.036391 -0.007118
+v -0.047324 0.077491 -0.055833
+v -0.043348 0.058240 -0.055670
+v -0.027021 0.019984 0.031126
+v -0.050204 0.052885 -0.031130
+v 0.018410 0.005460 0.042164
+v -0.041126 -0.056665 -0.008881
+v -0.021453 -0.024238 0.039030
+v -0.021724 -0.052646 -0.013735
+v -0.031799 -0.054965 0.044296
+v -0.024427 -0.005719 0.043197
+v 0.075185 -0.032191 0.026755
+v 0.068571 -0.027751 0.022850
+v -0.017122 -0.052764 -0.025001
+v -0.021473 0.010420 0.038014
+v 0.020857 -0.023025 0.055799
+v 0.045767 0.022127 0.031570
+v -0.049310 -0.061142 0.002841
+v 0.049737 -0.060324 0.023022
+v -0.024794 -0.046141 0.034123
+v -0.013731 -0.048336 0.037051
+v -0.015918 0.005568 0.038527
+v -0.067326 0.052647 0.013093
+v -0.019597 0.028124 0.022051
+v 0.014165 0.082895 -0.032958
+v 0.053903 -0.006981 -0.023582
+v 0.059248 -0.015722 -0.020193
+v -0.017560 -0.012127 0.040210
+v -0.011850 -0.006527 0.041581
+v -0.012686 0.073963 -0.001303
+v -0.007525 -0.011933 0.040069
+v 0.014204 0.024670 0.033919
+v -0.002153 0.007858 0.039997
+v -0.003328 -0.041714 0.033559
+v -0.002340 0.084250 -0.010061
+v 0.017308 -0.000406 0.052905
+v -0.000782 -0.001005 0.042913
+v 0.080983 -0.025497 0.003033
+v 0.036161 0.027697 0.030294
+v 0.000153 -0.050170 0.050606
+v 0.022838 0.016237 -0.022794
+v 0.005078 -0.045948 0.044458
+v 0.006956 0.091082 -0.022663
+v -0.027967 -0.046374 0.024800
+v -0.012074 -0.013479 -0.024394
+v 0.078003 -0.039212 0.026429
+v -0.010662 -0.062558 -0.033333
+v 0.001101 -0.049004 -0.030567
+v 0.002068 -0.014572 0.054434
+v 0.006998 -0.030898 0.050580
+v -0.056258 0.041262 -0.005511
+v 0.058294 -0.003587 0.038287
+v 0.004580 0.063422 -0.006786
+v -0.014742 -0.060803 0.040749
+v 0.051882 -0.046841 -0.020987
+v 0.044003 -0.051854 -0.024547
+v 0.062317 -0.030602 -0.015112
+v 0.060788 -0.042483 -0.009773
+v 0.045961 -0.030927 0.044748
+v -0.001669 -0.060487 0.052113
+v 0.058224 0.010604 -0.012629
+v -0.033584 -0.047838 0.004559
+v 0.080813 -0.046527 0.018183
+v -0.039032 0.039987 0.035421
+v -0.035923 0.026879 0.040445
+v 0.059895 -0.034755 0.035589
+v 0.067800 -0.002575 0.023064
+v -0.006840 0.014275 -0.021384
+v 0.056199 -0.019528 0.039696
+v 0.003032 0.008424 -0.025497
+v 0.012075 0.077693 -0.023342
+v 0.053921 -0.047613 0.033490
+v 0.041732 -0.060400 0.040858
+v 0.012479 0.066836 -0.016195
+v -0.030357 0.043434 0.027039
+v -0.037564 -0.061242 0.042738
+v 0.061537 -0.056769 -0.003453
+v -0.004239 -0.046552 -0.025916
+v -0.051750 -0.003917 -0.016655
+v 0.038868 -0.060940 -0.023876
+v -0.010514 -0.062025 0.032539
+v -0.060952 0.012554 0.018895
+v -0.063916 0.047079 0.033599
+v -0.065723 0.016193 0.036333
+v 0.029772 0.003333 -0.024764
+v -0.062765 0.024598 -0.004426
+v 0.018851 -0.062430 -0.026380
+v -0.045304 -0.052913 0.003317
+v -0.042820 -0.059850 0.025786
+v -0.000337 -0.005106 -0.037668
+v -0.055468 0.016456 0.045246
+v 0.044995 -0.039212 -0.029498
+v -0.018483 -0.062487 -0.029893
+v 0.033964 -0.062013 -0.017134
+v 0.027984 -0.002618 -0.035477
+v 0.071728 -0.022984 0.012469
+v -0.044940 0.060042 0.019949
+v -0.036954 0.058528 0.001484
+v -0.018416 0.032822 0.010801
+v -0.004150 -0.018637 -0.039351
+v 0.056782 0.020996 0.003312
+v -0.061088 0.002270 0.025815
+v -0.054229 0.065949 -0.030546
+v 0.049470 0.026782 0.020737
+v 0.044071 0.007106 -0.022271
+v -0.031371 -0.048229 -0.007222
+v -0.025371 0.032336 -0.005879
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diff --git a/assets/3d/donut.obj b/assets/3d/donut.obj
new file mode 100644
index 000000000..626a13a17
--- /dev/null
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+f 664 554 552
+f 469 263 473
+f 127 60 129
+f 1271 521 1277
+f 406 792 1280
+f 685 798 1286
+f 304 507 307
+f 352 765 761
+f 528 522 1291
+f 907 1202 1131
+f 385 605 388
+f 697 815 906
+f 460 452 563
+f 395 734 1199
+f 1297 454 448
+f 1281 1309 1301
+f 1311 1320 789
+f 860 1289 799
+f 1330 954 1327
+f 678 1335 308
+f 1338 915 1278
+f 1346 729 1342
+f 1350 1194 808
+f 160 670 41
+f 1272 1362 1292
+f 310 1336 296
+f 297 1337 277
+f 1334 688 278
+f 246 1288 689
+f 279 1287 1325
+f 690 1290 133
+f 280 1326 854
+f 1324 861 858
+f 77 302 781
+f 338 1365 786
+f 339 787 782
+f 342 783 37
+f 126 1032 800
+f 862 220 1033
+f 1042 848 863
+f 1003 1198 855
+f 1197 1251 856
+f 134 1254 1231
+f 1253 1112 1232
+f 1283 1302 1113
+f 1110 1104 1284
+f 1285 1107 407
+f 1108 1156 408
+f 157 1157 1034
+f 1155 1044 1035
+f 222 125 1047
+f 509 947 309
+f 227 948 679
+f 75 590 680
+f 681 591 434
+f 592 603 435
+f 431 604 446
+f 73 928 449
+f 47 929 1298
+f 76 1366 930
+f 1367 1299 84
+f 811 1313 401
+f 124 1314 790
+f 1321 1182 793
+f 1323 796 216
+f 1180 1322 1010
+f 1319 1317 1011
+f 1012 1318 1242
+f 1316 1312 1243
+f 1244 1315 123
+f 121 911 809
+f 238 912 1352
+f 913 619 1353
+f 1351 620 1354
+f 618 1019 1356
+f 1009 1357 1017
+f 1355 1013 1193
+f 193 1195 136
+f 487 501 916
+f 1293 1370 529
+f 1274 231 917
+f 33 1276 1294
+f 1279 523 1340
+f 525 621 1341
+f 910 1339 138
+f 242 1363 1371
+f 1372 1364 723
+f 1361 1359 724
+f 722 1360 500
+f 1358 1273 502
+f 53 1275 918
+f 612 766 730
+f 235 768 1343
+f 767 922 1344
+f 527 1345 921
+f 234 530 1348
+f 34 1373 1349
+f 1347 1374 717
+f 50 718 198
+f 763 1331 353
+f 354 1332 340
+f 1333 1328 341
+f 12 1329 1368
+f 224 955 1369
+f 191 956 1300
+f 957 608 1296
+f 1233 101 1303
+f 213 1310 1234
+f 1308 1305 1235
+f 1230 1306 1181
+f 794 1183 1307
+f 1304 1282 196
+f 267 270 7
+f 282 288 293
+f 314 319 324
+f 334 256 349
+f 21 40 39
+f 383 387 392
+f 399 404 411
+f 419 424 428
+f 442 289 287
+f 420 46 450
+f 418 457 465
+f 493 495 498
+f 330 514 518
+f 303 38 292
+f 22 391 535
+f 16 445 360
+f 545 551 558
+f 559 376 540
+f 444 459 20
+f 568 572 577
+f 587 593 596
+f 199 48 615
+f 524 517 627
+f 638 640 644
+f 653 657 63
+f 9 10 668
+f 45 23 318
+f 692 695 490
+f 704 66 711
+f 15 567 455
+f 17 18 440
+f 738 742 753
+f 56 172 175
+f 764 194 616
+f 770 775 778
+f 733 413 829
+f 49 726 200
+f 325 842 516
+f 491 865 871
+f 600 594 880
+f 378 562 253
+f 888 892 505
+f 177 65 715
+f 816 402 396
+f 920 351 262
+f 69 878 925
+f 67 64 55
+f 654 938 934
+f 885 595 940
+f 85 894 944
+f 29 28 875
+f 26 539 952
+f 804 58 557
+f 25 202 840
+f 757 901 57
+f 898 581 68
+f 30 844 961
+f 931 79 71
+f 1 2 979
+f 988 99 997
+f 32 31 870
+f 886 777 774
+f 27 531 924
+f 86 359 566
+f 936 174 550
+f 1015 1018 1020
+f 1028 169 1029
+f 423 831 1036
+f 1037 847 1046
+f 163 1054 1055
+f 1059 1064 1069
+f 1082 1086 998
+f 1096 1098 1100
+f 93 1111 986
+f 1119 142 143
+f 107 1049 995
+f 1135 1099 186
+f 110 116 1139
+f 1002 102 1041
+f 1109 98 1161
+f 1057 167 168
+f 1178 1184 1016
+f 119 187 1190
+f 141 960 1122
+f 869 209 699
+f 210 206 466
+f 92 97 1085
+f 208 207 1134
+f 149 156 752
+f 94 103 1162
+f 834 212 410
+f 1211 1214 164
+f 1007 144 1125
+f 744 1220 965
+f 839 201 876
+f 109 1240 1063
+f 1250 114 113
+f 633 647 828
+f 95 100 105
+f 821 1072 115
+f 1177 147 1118
+f 1263 161 162
+f 96 104 108
+f 153 150 151
+f 118 643 1239
+f 106 1114 1256
+f 725 503 497
+f 117 1065 636
+f 148 145 146
+f 284 1223 747
+f 1124 139 140
+f 1094 1264 1142
+f 857 152 155
+f 3 4 1268
+f 70 74 81
+f 8 5 6
+f 1024 137 623
+f 83 80 72
+f 52 159 135
+f 82 78 891
+f 1247 1265 120
+f 576 571 710
+f 652 179 180
+f 178 899 173
+f 904 759 176
+f 188 183 1189
+f 642 1266 1249
+f 1146 190 189
+f 182 181 184
+f 1145 185 1068
+f 665 553 584
+f 586 171 549
+f 666 661 54
+f 409 403 795
+f 36 35 769
+f 908 211 1203
+f 386 1295 609
+f 700 122 817
+f 461 203 204
+f 397 414 736
+f 14 205 456
+f 197 215 214
+f 218 219 217
+f 864 223 221
+f 226 192 225
+f 229 230 228
+f 233 195 232
+f 236 237 731
+f 240 241 239
+f 1261 11 91
+f 244 245 243

From ef507153d7793f64273066f8e00777f29a064581 Mon Sep 17 00:00:00 2001
From: Dylan Whichard <dylan@whichard.com>
Date: Sat, 21 Oct 2023 11:53:42 -0700
Subject: [PATCH 06/11] Add translation and scaling parameters to drawModel()

---
 main/display/model.c             | 31 ++++++---------
 main/display/model.h             |  4 +-
 main/modes/accelTest/accelTest.c | 67 +++++++++++++++++++++++++++-----
 3 files changed, 71 insertions(+), 31 deletions(-)

diff --git a/main/display/model.c b/main/display/model.c
index 0b017b92b..68b49c098 100644
--- a/main/display/model.c
+++ b/main/display/model.c
@@ -87,46 +87,37 @@ void deinitRenderer(void)
     }
 }
 
-void drawModel(const model_t* model, float orient[4])
+void drawModel(const model_t* model, float orient[4], float scale, float translate[3], uint16_t x, uint16_t y, uint16_t w, uint16_t h)
 {
-    // TODO: add translate parameter
-    // TODO: add x, y, w, and h as parameters for the drawing area
-    // TODO: not sure if lines work
-
-    uint16_t w = TFT_WIDTH;
-    uint16_t h = TFT_HEIGHT;
-
     float plusy[3] = { 0, 1, 0 };
 
 	// Produce a model matrix from a quaternion.
-	float plusx_out[3] = { 0.9, 0, 0 };
-	float plusy_out[3] = { 0, 0.9, 0 };
-	float plusz_out[3] = { 0, 0, 0.9 };
+	float plusx_out[3] = { 0.9 * scale, 0, 0 };
+	float plusy_out[3] = { 0, 0.9 * scale, 0 };
+	float plusz_out[3] = { 0, 0, 0.9 * scale };
 	mathRotateVectorByQuaternion( plusy, orient, plusy );
 	mathRotateVectorByQuaternion( plusy_out, orient, plusy_out );
 	mathRotateVectorByQuaternion( plusx_out, orient, plusx_out );
 	mathRotateVectorByQuaternion( plusz_out, orient, plusz_out );
 
-	//uint32_t cycStart = getCycleCount();
-
 	int i, vertices = 0;
     for( i = 0; i < model->vertCount; i++ )
 	{
 		// Performing the transform this way is about 700us.
-        float bx = 1.0 * model->verts[i][0];
-		float by = 1.0 * model->verts[i][1];
-		float bz = 1.0 * model->verts[i][2];
+        float bx = 1.0 * model->verts[i][0] + translate[0];
+		float by = 1.0 * model->verts[i][1] + translate[1];
+		float bz = 1.0 * model->verts[i][2] + translate[2];
 
-		float bunnyvert[3] = {
+		float xlvert[3] = {
 			bx * plusx_out[0] + by * plusx_out[1] + bz * plusx_out[2],
 			bx * plusy_out[0] + by * plusy_out[1] + bz * plusy_out[2],
 			bx * plusz_out[0] + by * plusz_out[1] + bz * plusz_out[2]
         };
 
-		verts_out[vertices*3+0] = bunnyvert[0] + w/2;
+		verts_out[vertices*3+0] = x + xlvert[0] + w/2;
         // Convert from right-handed to left-handed coordinate frame.
-		verts_out[vertices*3+1] =-bunnyvert[1] + h/2;
-		verts_out[vertices*3+2] = bunnyvert[2];
+		verts_out[vertices*3+1] = y - xlvert[1] + h/2;
+		verts_out[vertices*3+2] = xlvert[2];
 		vertices++;
 	}
 
diff --git a/main/display/model.h b/main/display/model.h
index f7b712698..4250d63d1 100644
--- a/main/display/model.h
+++ b/main/display/model.h
@@ -79,11 +79,13 @@ void deinitRenderer(void);
  * @param model The 3D model to draw
  * @param offset The location within the world
  * @param orient A quaternion representing the orientation of the model
+ * @param scale The scale factor to apply to the model
+ * @param translate A vector representing the x, y, and z translation of the model
  * @param x The X coordinate of the left side of the window to draw the model within
  * @param y The Y coordinate of the top side of the window to draw the model within
  * @param w The width of the window to draw the model within
  * @param h The height of the window to draw the model within
  */
-void drawModel(const model_t* model, float orient[4]);
+void drawModel(const model_t* model, float orient[4], float scale, float translate[3], uint16_t x, uint16_t y, uint16_t w, uint16_t h);
 
 #endif
diff --git a/main/modes/accelTest/accelTest.c b/main/modes/accelTest/accelTest.c
index 8ccb335aa..044200eae 100644
--- a/main/modes/accelTest/accelTest.c
+++ b/main/modes/accelTest/accelTest.c
@@ -76,7 +76,9 @@ typedef struct
     model_t bunny; ///< The bunny 3D model
     model_t donut; ///< The donut 3D model
 
-    bool drawDonut;
+    bool translateY;
+    float scale;
+    float translate[3];
 
     uint16_t btnState; ///< The button state
 
@@ -167,6 +169,11 @@ static void accelTestEnterMode(void)
     ESP_LOGI("Model", "loadModel(bunny.mdl) returned %s", loadModel("bunny.mdl", &accelTest->bunny, true) ? "true" : "false");
     loadModel("donut.mdl", &accelTest->donut, true);
 
+    accelTest->scale = 1.0;
+    accelTest->translate[0] = 0.0;
+    accelTest->translate[1] = 0.0;
+    accelTest->translate[2] = 0.0;
+
     // Ensure there's sufficient space to draw either model
     initRendererCustom(MAX(accelTest->bunny.vertCount, accelTest->donut.vertCount), MAX(accelTest->bunny.triCount, accelTest->donut.triCount));
 
@@ -226,8 +233,47 @@ static void accelTestMainLoop(int64_t elapsedUs)
 
         if (evt.down && (PB_B == evt.button))
         {
-            accelTest->drawDonut = !accelTest->drawDonut;
+            accelTest->translateY = !accelTest->translateY;
+        }
+
+        if (evt.down && (PB_UP == evt.button))
+        {
+            accelTest->scale += .1;
+        }
+
+        if (evt.down && (PB_DOWN == evt.button))
+        {
+            if (accelTest->scale > .15)
+            {
+                accelTest->scale -= .1;
+            }
+        }
+
+        if (evt.down && (PB_LEFT == evt.button))
+        {
+            if (accelTest->translateY)
+            {
+                accelTest->translate[1] -= 5.0;
+            }
+            else
+            {
+                accelTest->translate[0] -= 5.0;
+            }
         }
+
+        if (evt.down && (PB_RIGHT == evt.button))
+        {
+            if (accelTest->translateY)
+            {
+                accelTest->translate[1] += 5.0;
+            }
+            else
+            {
+                accelTest->translate[0] += 5.0;
+            }
+        }
+
+        ESP_LOGI("Accel", "Scale: %f", accelTest->scale);
     }
 
     // Do update each loop
@@ -283,17 +329,12 @@ static void accelTestHandleInput(void)
  */
 static void accelDrawBunny(void)
 {
+    // Get the orientation from the accelerometer
     float orient[4];
     memcpy(orient, LSM6DSL.fqQuat, sizeof(orient));
 
-    if (accelTest->drawDonut)
-    {
-        drawModel(&accelTest->donut, orient);
-    }
-    else
-    {
-        drawModel(&accelTest->bunny, orient);
-    }
+    drawModel(&accelTest->donut, orient, accelTest->scale / 2, accelTest->translate, 0, TFT_HEIGHT / 2, TFT_WIDTH / 2, TFT_HEIGHT / 2);
+    drawModel(&accelTest->bunny, orient, accelTest->scale / 2, accelTest->translate, TFT_WIDTH / 2, TFT_HEIGHT / 2, TFT_WIDTH / 2, TFT_HEIGHT / 2);
 }
 
 /**
@@ -317,6 +358,12 @@ static void accelTestReset(void)
     accelTest->max.x = 1;
     accelTest->max.y = 1;
     accelTest->max.z = 1;
+
+    accelTest->scale = 1.0;
+
+    accelTest->translate[0] = 0.0;
+    accelTest->translate[1] = 0.0;
+    accelTest->translate[2] = 0.0;
 }
 
 /**

From 0f35c20bd5b0658aeae76dc422555c0df1a4eef0 Mon Sep 17 00:00:00 2001
From: Dylan Whichard <dylan@whichard.com>
Date: Sat, 21 Oct 2023 11:54:11 -0700
Subject: [PATCH 07/11] Patch a renderer div-by-zero crash

---
 main/display/model.c | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/main/display/model.c b/main/display/model.c
index 68b49c098..2ae98d1a5 100644
--- a/main/display/model.c
+++ b/main/display/model.c
@@ -155,6 +155,13 @@ void drawModel(const model_t* model, float orient[4], float scale, float transla
 
             //float fcrp[3] = { icrp[0], icrp[1], icrp[2] };
             int crpscalar = julery_isqrt( icrp[0] * icrp[0] + icrp[1] * icrp[1] + icrp[2] * icrp[2] );
+
+            // TODO: This is probably not the root cause of the issue
+            if (crpscalar == 0)
+            {
+                crpscalar = 1;
+            }
+
             icrp[0] = ( 1024 * icrp[0] ) / crpscalar;
             icrp[1] = ( 1024 * icrp[1] ) / crpscalar;
             icrp[2] = ( 1024 * icrp[2] ) / crpscalar;

From 02df4b0581fcdd3a5cd2e68a9d3ea0e10a632d22 Mon Sep 17 00:00:00 2001
From: Dylan Whichard <dylan@whichard.com>
Date: Sat, 21 Oct 2023 17:03:14 -0700
Subject: [PATCH 08/11] Fix undefined functions in emulator hdw-imu

---
 components/hdw-imu/hdw-imu.c              |   9 --
 emulator/src/components/hdw-imu/hdw-imu.c | 152 ++++++++++++++++++++--
 2 files changed, 142 insertions(+), 19 deletions(-)

diff --git a/components/hdw-imu/hdw-imu.c b/components/hdw-imu/hdw-imu.c
index 593a15075..92462bb08 100644
--- a/components/hdw-imu/hdw-imu.c
+++ b/components/hdw-imu/hdw-imu.c
@@ -97,15 +97,6 @@ LSM6DSLData LSM6DSL;
 // Utility Prototypes
 //==============================================================================
 
-float rsqrtf(float x);
-float mathsqrtf(float x);
-void mathEulerToQuat(float* q, const float* euler);
-void mathQuatApply(float* qout, const float* q1, const float* q2);
-void mathQuatNormalize(float* qout, const float* qin);
-void mathCrossProduct(float* p, const float* a, const float* b);
-void mathRotateVectorByInverseOfQuaternion(float* pout, const float* q, const float* p);
-void mathRotateVectorByQuaternion(float* pout, const float* q, const float* p);
-
 static inline uint32_t getCycleCount();
 
 esp_err_t GeneralSet(int dev, int reg, int val);
diff --git a/emulator/src/components/hdw-imu/hdw-imu.c b/emulator/src/components/hdw-imu/hdw-imu.c
index b63d1d2cf..25f16e027 100644
--- a/emulator/src/components/hdw-imu/hdw-imu.c
+++ b/emulator/src/components/hdw-imu/hdw-imu.c
@@ -8,6 +8,7 @@
 #include "esp_random.h"
 #include "emu_args.h"
 #include "macros.h"
+#include "math.h"
 
 #define ONE_G 256
 
@@ -164,6 +165,130 @@ esp_err_t accelIntegrate()
 {
     // Do nothing (is stub function)
     return ESP_OK;
+}//==============================================================================
+// Utility Functions
+//==============================================================================
+
+/**
+ * @brief Perform a fast, approximate reciprocal square root
+ *
+ * @param x The number to take a recriprocal square root of.
+ * @return approximately 1/sqrt(x)
+ */
+float rsqrtf(float x)
+{
+    typedef union
+    {
+        int32_t i;
+        float f;
+    } fiunion;
+    const float xhalf = 0.5f * x;
+    fiunion i         = {.f = x};
+    i.i               = 0x5f375a86 - (i.i >> 1);
+    x                 = i.f;
+    x                 = x * (1.5f - xhalf * x * x);
+    x                 = x * (1.5f - xhalf * x * x);
+    return x;
+}
+
+/**
+ * @brief Perform a fast, approximate square root
+ *
+ * @param x The number to take a square root of.
+ * @return approximately sqrt(x) (but is much faster)
+ */
+float mathsqrtf(float x)
+{
+    // Trick to do approximate, fast square roots. (Though it is surprisingly fast)
+    int sign = x < 0;
+    if (sign)
+        x = -x;
+    if (x < 0.0000001)
+        return 0.0001;
+    float o = x;
+    o       = (o + x / o) / 2;
+    o       = (o + x / o) / 2;
+    o       = (o + x / o) / 2;
+    o       = (o + x / o) / 2;
+    if (sign)
+        return -o;
+    else
+        return o;
+}
+
+/**
+ * @brief convert euler angles (in radians) to a quaternion.
+ *
+ * @param q Pointer to the wxyz quat (float[4]) to be written.
+ * @param euler Pointer to a float[3] of euler angles.
+ */
+void mathEulerToQuat(float* q, const float* euler)
+{
+    float pitch = euler[0];
+    float yaw   = euler[1];
+    float roll  = euler[2];
+    float cr    = cosf(pitch * 0.5);
+    float sr    = sinf(pitch * 0.5); // Pitch: About X
+    float cp    = cosf(yaw * 0.5);
+    float sp    = sinf(yaw * 0.5); // Yaw:   About Y
+    float cy    = cosf(roll * 0.5);
+    float sy    = sinf(roll * 0.5); // Roll:  About Z
+    q[0]        = cr * cp * cy + sr * sp * sy;
+    q[1]        = sr * cp * cy - cr * sp * sy;
+    q[2]        = cr * sp * cy + sr * cp * sy;
+    q[3]        = cr * cp * sy - sr * sp * cy;
+}
+
+/**
+ * @brief Rotate one quaternion by another (and do not normalize)
+ *
+ * @param qout Pointer to the wxyz quat (float[4]) to be written.
+ * @param q1 First quaternion to be rotated.
+ * @param q2 Quaternion to rotate q1 by.
+ */
+void mathQuatApply(float* qout, const float* q1, const float* q2)
+{
+    // NOTE: Does not normalize - you will need to normalize eventually.
+    float tmpw, tmpx, tmpy;
+    tmpw    = (q1[0] * q2[0]) - (q1[1] * q2[1]) - (q1[2] * q2[2]) - (q1[3] * q2[3]);
+    tmpx    = (q1[0] * q2[1]) + (q1[1] * q2[0]) + (q1[2] * q2[3]) - (q1[3] * q2[2]);
+    tmpy    = (q1[0] * q2[2]) - (q1[1] * q2[3]) + (q1[2] * q2[0]) + (q1[3] * q2[1]);
+    qout[3] = (q1[0] * q2[3]) + (q1[1] * q2[2]) - (q1[2] * q2[1]) + (q1[3] * q2[0]);
+    qout[2] = tmpy;
+    qout[1] = tmpx;
+    qout[0] = tmpw;
+}
+
+/**
+ * @brief Normalize a quaternion
+ *
+ * @param qout Pointer to the wxyz quat (float[4]) to be written.
+ * @param qin Pointer to the quaterion to normalize.
+ */
+void mathQuatNormalize(float* qout, const float* qin)
+{
+    float qmag = qin[0] * qin[0] + qin[1] * qin[1] + qin[2] * qin[2] + qin[3] * qin[3];
+    qmag       = rsqrtf(qmag);
+    qout[0]    = qin[0] * qmag;
+    qout[1]    = qin[1] * qmag;
+    qout[2]    = qin[2] * qmag;
+    qout[3]    = qin[3] * qmag;
+}
+
+/**
+ * @brief Perform a 3D cross product
+ *
+ * @param p Pointer to the float[3] output of the cross product (p = a x b)
+ * @param a Pointer to the float[3] of the cross product a vector.
+ * @param b Pointer to the float[3] of the cross product b vector.
+ */
+void mathCrossProduct(float* p, const float* a, const float* b)
+{
+    float tx = a[1] * b[2] - a[2] * b[1];
+    float ty = a[2] * b[0] - a[0] * b[2];
+    p[2]     = a[0] * b[1] - a[1] * b[0];
+    p[1]     = ty;
+    p[0]     = tx;
 }
 
 /**
@@ -189,19 +314,26 @@ void mathRotateVectorByQuaternion(float* pout, const float* q, const float* p)
 }
 
 /**
- * @brief Perform a 3D cross product
+ * @brief Rotate a 3D vector by the inverse of a quaternion
  *
- * @param p Pointer to the float[3] output of the cross product (p = a x b)
- * @param a Pointer to the float[3] of the cross product a vector.
- * @param a Pointer to the float[3] of the cross product b vector.
+ * @param pout Pointer to the float[3] output of the antirotation.
+ * @param q Pointer to the wxyz quaternion (float[4]) opposite of the rotation.
+ * @param p Pointer to the float[3] of the vector to antirotates.
  */
-void mathCrossProduct(float* p, const float* a, const float* b)
+void mathRotateVectorByInverseOfQuaternion(float* pout, const float* q, const float* p)
 {
-    float tx = a[1] * b[2] - a[2] * b[1];
-    float ty = a[2] * b[0] - a[0] * b[2];
-    p[2]     = a[0] * b[1] - a[1] * b[0];
-    p[1]     = ty;
-    p[0]     = tx;
+    // General note: Performing a transform this way can be about 20-30% slower than a well formed 3x3 matrix.
+    // return v + 2.0 * cross(q.xyz, cross(q.xyz, v) + q.w * v);
+    float iqo[3];
+    mathCrossProduct(iqo, p, q + 1 /*.xyz*/);
+    iqo[0] += q[0] * p[0];
+    iqo[1] += q[0] * p[1];
+    iqo[2] += q[0] * p[2];
+    float ret[3];
+    mathCrossProduct(ret, iqo, q + 1 /*.xyz*/);
+    pout[0] = ret[0] * 2.0 + p[0];
+    pout[1] = ret[1] * 2.0 + p[1];
+    pout[2] = ret[2] * 2.0 + p[2];
 }
 
 // stub

From 9d17714476424e4f8520ec0c51bcbe748bd74e7e Mon Sep 17 00:00:00 2001
From: Dylan Whichard <dylan@whichard.com>
Date: Sat, 21 Oct 2023 17:04:16 -0700
Subject: [PATCH 09/11] Add missing include guard

---
 main/asset_loaders/spiffs_model.h | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/main/asset_loaders/spiffs_model.h b/main/asset_loaders/spiffs_model.h
index f2d963eb1..b46eaad8c 100644
--- a/main/asset_loaders/spiffs_model.h
+++ b/main/asset_loaders/spiffs_model.h
@@ -1,6 +1,11 @@
+#ifndef _SPIFFS_MODEL_H_
+#define _SPIFFS_MODEL_H_
+
 #include "model.h"
 
 #include <stdbool.h>
 
 bool loadModel(const char* name, model_t* model, bool useSpiRam);
-void freeModel(model_t* model);
\ No newline at end of file
+void freeModel(model_t* model);
+
+#endif

From 183eda61d58ec0f0bc7cf245cde778c4bfd8c302 Mon Sep 17 00:00:00 2001
From: Dylan Whichard <dylan@whichard.com>
Date: Sat, 21 Oct 2023 17:05:27 -0700
Subject: [PATCH 10/11] Add scenes that sorta work

---
 main/display/model.c | 342 ++++++++++++++++++++++++++++---------------
 main/display/model.h | 133 ++++++++++++++++-
 2 files changed, 351 insertions(+), 124 deletions(-)

diff --git a/main/display/model.c b/main/display/model.c
index 2ae98d1a5..00a637d0a 100644
--- a/main/display/model.c
+++ b/main/display/model.c
@@ -12,17 +12,23 @@
 #include "shapes.h"
 #include "palette.h"
 
+// If defined, the stack will be used to allocate vert/tri buffers, otherwise heap is used
+//#define MODEL_USE_STACK
+
 // do a funky typedef so we can still define trimap as a 2D array
 typedef uint16_t trimap_t[3];
 
 // Variables
-static uint16_t* verts_out = NULL;
+#ifndef MODEL_USE_STACK
+static int16_t* verts_out = NULL;
 static trimap_t* trimap = NULL;
+#endif
 
 // Static Function Prototypes
 static void intcross(int* p, const int* a, const int* b);
 static int zcompare(const int16_t *a, const int16_t* b);
 static unsigned julery_isqrt(unsigned long val);
+static void countScene(const scene_t* scene, uint16_t* verts, uint16_t* faces);
 
 // Function Definitions
 static void intcross(int* p, const int* a, const int* b)
@@ -36,7 +42,7 @@ static void intcross(int* p, const int* a, const int* b)
 
 static int zcompare(const int16_t *a, const int16_t* b)
 {
-	return a[0] - b[0];
+	return (a[0] - b[0]) ? (a[0] - b[0]) : ((a[2] >> 8) - (b[2] >> 8));
 }
 
 static unsigned julery_isqrt(unsigned long val) {
@@ -50,6 +56,45 @@ static unsigned julery_isqrt(unsigned long val) {
     return g;
 }
 
+/**
+ * @brief Count and return the total number of vertices and faces in a scene
+ *
+ * @param scene The scene to count
+ * @param[out] verts A pointer to a uint16_t to be set to the total number of vertices
+ * @param[out] faces A pointer to a uint16_t to be set to the total number of faces
+ */
+static void countScene(const scene_t* scene, uint16_t* verts, uint16_t* faces)
+{
+    uint16_t totalVerts = 0;
+    uint16_t totalTris = 0;
+
+    for (uint8_t i = 0; i < scene->modelCount; i++)
+    {
+        const modelPos_t* modelPos = &scene->models[i];
+        if (NULL != modelPos->model)
+        {
+            uint16_t prevVerts = totalVerts;
+            uint16_t prevTris = totalTris;
+            totalVerts += modelPos->model->vertCount;
+            totalTris += modelPos->model->triCount;
+
+            if (totalVerts < prevVerts || totalTris < prevTris)
+            {
+                // Detect integer rollover and abort
+                ESP_LOGE("Model",
+                         "Too many verts/faces in scene: %" PRIu16 " + %" PRIu16 " verts"
+                         " or %" PRIu16 " + %" PRIu16 " faces rolled over",
+                         prevVerts, modelPos->model->vertCount,
+                         prevTris, modelPos->model->triCount);
+                return;
+            }
+        }
+    }
+
+    *verts = totalVerts;
+    *faces = totalTris;
+}
+
 void initRenderer(const model_t* model)
 {
     initRendererCustom(model->vertCount, model->triCount);
@@ -57,23 +102,36 @@ void initRenderer(const model_t* model)
 
 void initRendererCustom(uint16_t maxVerts, uint16_t maxFaces)
 {
+#ifdef MODEL_USE_STACK
+    ESP_LOGI("Model", "Using stack for verts and faces! Woo");
+#else
     // Free any existing buffers
     deinitRenderer();
 
     ESP_LOGI("Model", "Allocating %" PRIu64 " bytes for verts and faces", (uint64_t)((maxVerts + maxFaces) * 3 * sizeof(uint16_t)));
 
     // Allocate the new buffers
-    verts_out = malloc(maxVerts * 3 * sizeof(uint16_t));
+    verts_out = malloc(maxVerts * 3 * sizeof(int16_t));
     trimap = malloc(maxFaces * 3 * sizeof(uint16_t));
 
     if (verts_out == NULL || trimap == NULL)
     {
         ESP_LOGI("Model", "Renderer could not allocate the buffers :(");
     }
+#endif
+}
+
+void initRendererScene(const scene_t* scene)
+{
+    uint16_t totalVerts = 0;
+    uint16_t totalTris = 0;
+    countScene(scene, &totalVerts, &totalTris);
+    initRendererCustom(totalVerts, totalTris);
 }
 
 void deinitRenderer(void)
 {
+#ifndef MODEL_USE_STACK
     if (NULL != verts_out)
     {
         free(verts_out);
@@ -85,137 +143,181 @@ void deinitRenderer(void)
         free(trimap);
         trimap = NULL;
     }
+#endif
 }
 
 void drawModel(const model_t* model, float orient[4], float scale, float translate[3], uint16_t x, uint16_t y, uint16_t w, uint16_t h)
 {
-    float plusy[3] = { 0, 1, 0 };
-
-	// Produce a model matrix from a quaternion.
-	float plusx_out[3] = { 0.9 * scale, 0, 0 };
-	float plusy_out[3] = { 0, 0.9 * scale, 0 };
-	float plusz_out[3] = { 0, 0, 0.9 * scale };
-	mathRotateVectorByQuaternion( plusy, orient, plusy );
-	mathRotateVectorByQuaternion( plusy_out, orient, plusy_out );
-	mathRotateVectorByQuaternion( plusx_out, orient, plusx_out );
-	mathRotateVectorByQuaternion( plusz_out, orient, plusz_out );
-
-	int i, vertices = 0;
-    for( i = 0; i < model->vertCount; i++ )
-	{
-		// Performing the transform this way is about 700us.
-        float bx = 1.0 * model->verts[i][0] + translate[0];
-		float by = 1.0 * model->verts[i][1] + translate[1];
-		float bz = 1.0 * model->verts[i][2] + translate[2];
-
-		float xlvert[3] = {
-			bx * plusx_out[0] + by * plusx_out[1] + bz * plusx_out[2],
-			bx * plusy_out[0] + by * plusy_out[1] + bz * plusy_out[2],
-			bx * plusz_out[0] + by * plusz_out[1] + bz * plusz_out[2]
-        };
-
-		verts_out[vertices*3+0] = x + xlvert[0] + w/2;
-        // Convert from right-handed to left-handed coordinate frame.
-		verts_out[vertices*3+1] = y - xlvert[1] + h/2;
-		verts_out[vertices*3+2] = xlvert[2];
-		vertices++;
-	}
-
-    if (model->triCount > 0)
+    scene_t scene;
+    scene.models[0].model = model;
+    scene.modelCount = 1;
+    memcpy(scene.models[0].orient, orient, sizeof(float) * 4);
+    scene.models[0].scale = scale;
+    memcpy(scene.models[0].translate, translate, sizeof(float) * 3);
+
+    drawScene(&scene, x, y, w, h);
+}
+
+void drawScene(const scene_t* scene, uint16_t x, uint16_t y, uint16_t w, uint16_t h)
+{
+#ifdef MODEL_USE_STACK
+    uint16_t maxVerts, maxTris;
+    countScene(scene, &maxVerts, &maxTris);
+    int16_t verts_out[maxVerts * 3];
+    trimap_t trimap[maxTris];
+#endif
+
+    int vertices = 0;
+    int totalTrisThisFrame = 0;
+    int i;
+
+    for (uint8_t modelNum = 0; modelNum < scene->modelCount; modelNum++)
     {
-        // Draw model with shaded triangles
-        int totalTrisThisFrame = 0;
+        const modelPos_t* modelPos = &scene->models[modelNum];
+        const model_t* model = modelPos->model;
+        ESP_LOGI("Model", "modelNum = %" PRIu8 " and translate is %.2f, %.2f, %.2f", modelNum, modelPos->translate[0], modelPos->translate[1], modelPos->translate[2]);
 
-        for( i = 0; i < model->triCount; i++)
+        if (NULL == model)
         {
-            int tv1 = model->tris[i].verts[0] * 3;
-            int tv2 = model->tris[i].verts[1] * 3;
-            int tv3 = model->tris[i].verts[2] * 3;
-            int col = model->tris[i].color;
-
-            int diff1[3] = {
-                verts_out[tv3+0] - verts_out[tv1+0],
-                verts_out[tv3+1] - verts_out[tv1+1],
-                verts_out[tv3+2] - verts_out[tv1+2] };
-            int diff2[3] = {
-                verts_out[tv2+0] - verts_out[tv1+0],
-                verts_out[tv2+1] - verts_out[tv1+1],
-                verts_out[tv2+2] - verts_out[tv1+2] };
-
-            // If we didn't need the normal, could do cross faster. int crossproduct = diff1[1] * diff2[0] - diff1[0] * diff2[1];
-
-            int icrp[3];
-            intcross( icrp, diff1, diff2 );
-            if( icrp[2] < 0 ) continue;
-            int z = verts_out[tv1+2] + verts_out[tv2+2] + verts_out[tv3+2];
-
-            int b = col % 6;
-            int g = ( col / 6 ) % 6;
-            int r = ( col / 36 ) % 6;
-
-            //float fcrp[3] = { icrp[0], icrp[1], icrp[2] };
-            int crpscalar = julery_isqrt( icrp[0] * icrp[0] + icrp[1] * icrp[1] + icrp[2] * icrp[2] );
-
-            // TODO: This is probably not the root cause of the issue
-            if (crpscalar == 0)
-            {
-                crpscalar = 1;
-            }
-
-            icrp[0] = ( 1024 * icrp[0] ) / crpscalar;
-            icrp[1] = ( 1024 * icrp[1] ) / crpscalar;
-            icrp[2] = ( 1024 * icrp[2] ) / crpscalar;
-
-            int isum = icrp[0] - icrp[1] + icrp[2];
+            // no model no render!
+            continue;
+        }
 
-            r = ( r * ( ( isum ) + 1200 ) * 100 ) >> 18;
-            g = ( g * ( ( isum ) + 1200 ) * 100 ) >> 18;
-            b = ( b * ( ( isum ) + 1200 ) * 100 ) >> 18;
+        float plusy[3] = { 0, 1, 0 };
 
-            if( r < 0 ) r = 0;
-            if( g < 0 ) g = 0;
-            if( b < 0 ) b = 0;
-            if( r > 5 ) r = 5;
-            if( g > 5 ) g = 5;
-            if( b > 5 ) b = 5;
+        // Produce a model matrix from a quaternion.
+        float plusx_out[3] = { 0.9 * modelPos->scale, 0, 0 };
+        float plusy_out[3] = { 0, 0.9 * modelPos->scale, 0 };
+        float plusz_out[3] = { 0, 0, 0.9 * modelPos->scale };
+        mathRotateVectorByQuaternion( plusy, modelPos->orient, plusy );
+        mathRotateVectorByQuaternion( plusy_out, modelPos->orient, plusy_out );
+        mathRotateVectorByQuaternion( plusx_out, modelPos->orient, plusx_out );
+        mathRotateVectorByQuaternion( plusz_out, modelPos->orient, plusz_out );
 
-            trimap[totalTrisThisFrame][0] = z;
-            trimap[totalTrisThisFrame][1] = i;
-            trimap[totalTrisThisFrame][2] = r * 36 + g * 6 + b;
-            totalTrisThisFrame++;
+        for( i = 0; i < model->vertCount; i++ )
+        {
+            // Performing the transform this way is about 700us.
+            float bx = 1.0 * model->verts[i][0] + modelPos->translate[0];
+            float by = 1.0 * model->verts[i][1] + modelPos->translate[1];
+            float bz = 1.0 * model->verts[i][2] + modelPos->translate[2];
+
+            float xlvert[3] = {
+                bx * plusx_out[0] + by * plusx_out[1] + bz * plusx_out[2],
+                bx * plusy_out[0] + by * plusy_out[1] + bz * plusy_out[2],
+                bx * plusz_out[0] + by * plusz_out[1] + bz * plusz_out[2]
+            };
+
+            verts_out[vertices*3+0] = x + xlvert[0] + w/2;
+            // Convert from right-handed to left-handed coordinate frame.
+            verts_out[vertices*3+1] = y - xlvert[1] + h/2;
+            verts_out[vertices*3+2] = xlvert[2];
+            vertices++;
         }
 
-        qsort(trimap, totalTrisThisFrame, sizeof( trimap[0] ), (void*)zcompare );
-
-        for( i = 0; i < totalTrisThisFrame; i++)
+        if (model->triCount > 0)
         {
-            int j = trimap[i][1];
-            int tv1 = model->tris[j].verts[0]*3;
-            int tv2 = model->tris[j].verts[1]*3;
-            int tv3 = model->tris[j].verts[2]*3;
-            int tcol = trimap[i][2];
-
-            drawTriangleOutlined(
-                verts_out[tv1+0], verts_out[tv1+1],
-                verts_out[tv2+0], verts_out[tv2+1],
-                verts_out[tv3+0], verts_out[tv3+1],
-                tcol, tcol );
+            // Draw model with shaded triangles
+            for( i = 0; i < model->triCount; i++)
+            {
+                int tv1 = model->tris[i].verts[0] * 3;
+                int tv2 = model->tris[i].verts[1] * 3;
+                int tv3 = model->tris[i].verts[2] * 3;
+                int col = model->tris[i].color;
+
+                int diff1[3] = {
+                    verts_out[tv3+0] - verts_out[tv1+0],
+                    verts_out[tv3+1] - verts_out[tv1+1],
+                    verts_out[tv3+2] - verts_out[tv1+2] };
+                int diff2[3] = {
+                    verts_out[tv2+0] - verts_out[tv1+0],
+                    verts_out[tv2+1] - verts_out[tv1+1],
+                    verts_out[tv2+2] - verts_out[tv1+2] };
+
+                // If we didn't need the normal, could do cross faster. int crossproduct = diff1[1] * diff2[0] - diff1[0] * diff2[1];
+
+                int icrp[3];
+                intcross( icrp, diff1, diff2 );
+                if( icrp[2] < 0 ) continue;
+                int z = verts_out[tv1+2] + verts_out[tv2+2] + verts_out[tv3+2];
+
+                int b = col % 6;
+                int g = ( col / 6 ) % 6;
+                int r = ( col / 36 ) % 6;
+
+                //float fcrp[3] = { icrp[0], icrp[1], icrp[2] };
+                int crpscalar = julery_isqrt( icrp[0] * icrp[0] + icrp[1] * icrp[1] + icrp[2] * icrp[2] );
+
+                // TODO: This is probably not the root cause of the issue
+                if (crpscalar == 0)
+                {
+                    crpscalar = 1;
+                }
+
+                icrp[0] = ( 1024 * icrp[0] ) / crpscalar;
+                icrp[1] = ( 1024 * icrp[1] ) / crpscalar;
+                icrp[2] = ( 1024 * icrp[2] ) / crpscalar;
+
+                int isum = icrp[0] - icrp[1] + icrp[2];
+
+                r = ( r * ( ( isum ) + 1200 ) * 100 ) >> 18;
+                g = ( g * ( ( isum ) + 1200 ) * 100 ) >> 18;
+                b = ( b * ( ( isum ) + 1200 ) * 100 ) >> 18;
+
+                if( r < 0 ) r = 0;
+                if( g < 0 ) g = 0;
+                if( b < 0 ) b = 0;
+                if( r > 5 ) r = 5;
+                if( g > 5 ) g = 5;
+                if( b > 5 ) b = 5;
+
+                trimap[totalTrisThisFrame][0] = z;
+                trimap[totalTrisThisFrame][1] = i;
+                // Pack the model number into the unused top byte of trimap[][2] for now
+                trimap[totalTrisThisFrame][2] = (modelNum << 8) | ((r * 36 + g * 6 + b) & 0xFF);
+                totalTrisThisFrame++;
+            }
         }
-    }
-    else if (model->lineCount > 0)
-    {
-        // Draw wireframe with lines
-        for (i = 0; i < model->lineCount; i++)
+        else if (model->lineCount > 0)
         {
-            uint16_t v1 = model->lines[i][0] * 3;
-            uint16_t v2 = model->lines[i][1] * 3;
-
-            float col = verts_out[v1 + 2] / 2000 + 8;
-            if (col > 5)
-                col = 5;
-            else if (col < 0)
-                continue;
-            drawLineFast(verts_out[v1], verts_out[v1 + 1], verts_out[v2], verts_out[v2 + 1], col);
+            // Draw wireframe with lines
+            for (i = 0; i < model->lineCount; i++)
+            {
+                uint16_t v1 = model->lines[i][0] * 3;
+                uint16_t v2 = model->lines[i][1] * 3;
+
+                float col = verts_out[v1 + 2] / 2000 + 8;
+                if (col > 5)
+                    col = 5;
+                else if (col < 0)
+                    continue;
+                drawLineFast(verts_out[v1], verts_out[v1 + 1], verts_out[v2], verts_out[v2 + 1], col);
+            }
         }
     }
-}
+
+    // Sort all faces by Z-index, then by model number
+    qsort(trimap, totalTrisThisFrame, sizeof( trimap[0] ), (void*)zcompare );
+
+    for( i = 0; i < totalTrisThisFrame; i++)
+    {
+        // Get the face index
+        int j = trimap[i][1];
+
+        // Extract the model number from the top byte of trimap[][2]
+        const model_t* model = scene->models[(trimap[i][2] >> 8) & 0xFF].model;
+        //ESP_LOGI("Model", "modelNum is %" PRIu16, (trimap[i][2] >> 8) & 0xFF);
+
+        int tv1 = model->tris[j].verts[0]*3;
+        int tv2 = model->tris[j].verts[1]*3;
+        int tv3 = model->tris[j].verts[2]*3;
+
+        // Use only the low byte of trimap[][2] for color
+        int tcol = trimap[i][2] & 0xFF;
+
+        drawTriangleOutlined(
+            verts_out[tv1+0], verts_out[tv1+1],
+            verts_out[tv2+0], verts_out[tv2+1],
+            verts_out[tv3+0], verts_out[tv3+1],
+            tcol, tcol );
+    }
+}
\ No newline at end of file
diff --git a/main/display/model.h b/main/display/model.h
index 4250d63d1..113dda31b 100644
--- a/main/display/model.h
+++ b/main/display/model.h
@@ -1,3 +1,72 @@
+/*! \file model.h
+ *
+ * \section model_design Design Philosophy
+ *
+ * This module provides a self-contained utility for rendering 3D models. Any \c .obj file placed
+ * in \c /assets/ will automatically be converted into a binary \c .mdl file in SPIFFS. Models are
+ * loaded from SPIFFS with loadModel() and unloaded with freeModel(). Once loaded, the model can
+ * either be passed directly into drawModel(), or composed within a scene_t and passed to drawScene().
+ *
+ * Before rendering, either initRenderer(), initRendererCustom(), or initRendererScene() must be
+ * called at least once. If necessary, the renderer may be reconfigured by making another call to
+ * \c initRenderer*(). Once the renderer is no longer needed, it must be deinitialized by calling
+ * deinitRenderer().
+ *
+ * \section model_example Example
+ *
+ * \code{.c}
+ * #include <float.h>
+ *
+ * // For loadModel() and freeModel()
+ * #include "spiffs_model.h"
+ * // for model_t and all rendering functions
+ * #include "model.h"
+ * // For TFT_WIDTH, TFT_HEIGHT
+ * #include "hdw-tft.h"
+ * // For getting the swadge's orientation (LSM6DSL.fqQuat)
+ * #include "hdw-imu.h"
+ *
+ * ////////////////////
+ * // Initialization //
+ * ////////////////////
+ *
+ * // Load the model data
+ * model_t model;
+ * if (!loadModel("donut.mdl", &model, false))
+ * {
+ *     // Error, model not loaded!
+ *     return;
+ * }
+ *
+ * // Initialize the renderer
+ * initRenderer(&model);
+ *
+ * ////////////////////
+ * // Frame Callback //
+ * ////////////////////
+ *
+ * // Get the swadge's orientation from the accelerometer to rotate the model
+ * float orient[4];
+ * memcpy(orient, LSM6DSL.fqQuat, sizeof(orient));
+ *
+ * float scale = 1.0;
+ * float translate[3] = {0};
+ *
+ * // Draw the model across the whole screen
+ * drawModel(&model, orient, scale, translate, 0, 0, TFT_WIDTH, TFT_HEIGHT);
+ *
+ * ////////////////////
+ * // Deinitializing //
+ * ////////////////////
+ *
+ * // Deinitialize the renderer
+ * deinitRenderer();
+ *
+ * // Free the model data
+ * freeModel(&model);
+ * \endcode
+ *
+ */
 #ifndef _MODEL_H_
 #define _MODEL_H_
 
@@ -6,18 +75,25 @@
 
 #include "palette.h"
 
+//==============================================================================
+// Types
+//==============================================================================
+
+/// @brief Type representing a vertex as an array of 3 int8_t for x, y, and z
 typedef int8_t modelVert_t[3];
+
+/// @brief Type representing a line as an array of 2 vertex indices
 typedef uint16_t modelLine_t[2];
 
 /**
- * @brief Structure representing a triangle and its color
+ * @brief Structure representing a triangular face and its color
  */
 typedef struct
 {
     /// @brief Index of each of the triangle's vertices
     uint16_t verts[3];
 
-    // Triangle color
+    /// @brief The face's color
     paletteColor_t color;
 } modelTri_t;
 
@@ -45,6 +121,24 @@ typedef struct
     modelLine_t* lines;
 } model_t;
 
+typedef struct
+{
+    const model_t* model;
+    float orient[4];
+    float scale;
+    float translate[3];
+} modelPos_t;
+
+typedef struct
+{
+    uint8_t modelCount;
+    modelPos_t models[16];
+} scene_t;
+
+//==============================================================================
+// Function Prototypes
+//==============================================================================
+
 /**
  * @brief Initializes the renderer, allocating temporary buffers needed to draw efficiently.
  *
@@ -54,20 +148,37 @@ typedef struct
  * should be called with the maximum numbe of vertices and maximum number of faces for any single
  * model.
  *
+ * Each initRenderer*() function may be called multiple times without calling deinitRenderer()
+ * in-between each call.
+ *
+ * @param A model to use to determine the buffer space needed
  */
 void initRenderer(const model_t* model);
 
 /**
  * @brief Initializes the renderer, allocating temporary buffers needed to draw efficiently.
  *
+ * Each initRenderer*() function may be called multiple times without calling deinitRenderer()
+ * in-between each call.
+ *
  * @param maxVerts The maximum number of vertices in a model that will be drawn
  * @param maxFaces The maximum number of lines in a model that will be drawn
  */
 void initRendererCustom(uint16_t maxVerts, uint16_t maxFaces);
 
 /**
- * @brief Deinitializes the renderer, clearing any temporary buffers that were allocated
+ * @brief Initializes the renderer, allocating temporary buffers sufficient to draw the given
+ * scene efficiently.
+ *
+ * Each initRenderer*() function may be called multiple times without calling deinitRenderer()
+ * in-between each call.
  *
+ * @param scene
+ */
+void initRendererScene(const scene_t* scene);
+
+/**
+ * @brief Deinitializes the renderer, clearing any temporary buffers that were allocated.
  */
 void deinitRenderer(void);
 
@@ -86,6 +197,20 @@ void deinitRenderer(void);
  * @param w The width of the window to draw the model within
  * @param h The height of the window to draw the model within
  */
-void drawModel(const model_t* model, float orient[4], float scale, float translate[3], uint16_t x, uint16_t y, uint16_t w, uint16_t h);
+void drawModel(const model_t* model, float orient[4], float scale, float translate[3], uint16_t x, uint16_t y,
+               uint16_t w, uint16_t h);
+
+/**
+ * @brief Render a scene with multiple 3D models
+ *
+ * initRendererScene() must be called once first before drawing the scene.
+ *
+ * @param scene The scene to draw
+ * @param x The X coordinate of the left side of the location to draw the scene within
+ * @param y The Y coordinate of the top side of the window to draw the scene within
+ * @param w The width of the window to draw the model within
+ * @param h The height of the window to draw the model within
+ */
+void drawScene(const scene_t* scene, uint16_t x, uint16_t y, uint16_t w, uint16_t h);
 
 #endif

From b41345ac1a7e6eaea28bf584083fae61af81ab64 Mon Sep 17 00:00:00 2001
From: Dylan Whichard <dylan@whichard.com>
Date: Sat, 21 Oct 2023 17:05:57 -0700
Subject: [PATCH 11/11] Use scene in accelTest

---
 main/modes/accelTest/accelTest.c | 86 ++++++++++++++++++++------------
 1 file changed, 55 insertions(+), 31 deletions(-)

diff --git a/main/modes/accelTest/accelTest.c b/main/modes/accelTest/accelTest.c
index 044200eae..99e61773a 100644
--- a/main/modes/accelTest/accelTest.c
+++ b/main/modes/accelTest/accelTest.c
@@ -13,6 +13,7 @@
 
 #include "swadge2024.h"
 #include "accelTest.h"
+#include "hdw-imu.h"
 #include "esp_log.h"
 #include "trigonometry.h"
 #include "shapes.h"
@@ -76,10 +77,14 @@ typedef struct
     model_t bunny; ///< The bunny 3D model
     model_t donut; ///< The donut 3D model
 
+    scene_t scene;
+
     bool translateY;
     float scale;
     float translate[3];
 
+    uint8_t selectedModel;
+
     uint16_t btnState; ///< The button state
 
     int16_t x; ///< The latest X accelerometer reading
@@ -169,13 +174,24 @@ static void accelTestEnterMode(void)
     ESP_LOGI("Model", "loadModel(bunny.mdl) returned %s", loadModel("bunny.mdl", &accelTest->bunny, true) ? "true" : "false");
     loadModel("donut.mdl", &accelTest->donut, true);
 
-    accelTest->scale = 1.0;
-    accelTest->translate[0] = 0.0;
-    accelTest->translate[1] = 0.0;
-    accelTest->translate[2] = 0.0;
+    accelTest->scene.modelCount = 2;
+    accelTest->scene.models[0].model = &accelTest->donut;
+    accelTest->scene.models[0].scale = 0.5;
+    accelTest->scene.models[0].translate[0] = -25.0;
+    accelTest->scene.models[0].translate[1] = -25.0;
+    accelTest->scene.models[0].translate[2] = 0.0;
+
+    accelTest->scene.models[1].model = &accelTest->donut;
+    accelTest->scene.models[1].scale = 0.1;
+    accelTest->scene.models[1].translate[0] = 25.0;
+    accelTest->scene.models[1].translate[1] = 25.0;
+    accelTest->scene.models[1].translate[2] = -1.0;
+
+    // Ensure there's sufficient space to draw both models
+    initRendererScene(&accelTest->scene);
 
     // Ensure there's sufficient space to draw either model
-    initRendererCustom(MAX(accelTest->bunny.vertCount, accelTest->donut.vertCount), MAX(accelTest->bunny.triCount, accelTest->donut.triCount));
+    //initRendererCustom(MAX(accelTest->bunny.vertCount, accelTest->donut.vertCount), MAX(accelTest->bunny.triCount, accelTest->donut.triCount));
 
     // writeTextlabels doesn't get reset by accelTestReset(), so initialize that here
     accelTest->writeTextLabels = true;
@@ -213,6 +229,20 @@ static void accelTestExitMode(void)
  */
 static void accelTestMainLoop(int64_t elapsedUs)
 {
+    int32_t angle, radius, intensity;
+    if (getTouchJoystick(&angle, &radius, &intensity))
+    {
+        int32_t x, y;
+        getTouchCartesian(angle, radius, &x, &y);
+
+        float minX = -126.0;
+        float maxX = 126.0;
+        float minY = -126.0;
+        float maxY = 126.0;
+
+        accelTest->scene.models[accelTest->selectedModel].translate[0] = minX + ((maxX - minX) * x / 1023.0);
+        accelTest->scene.models[accelTest->selectedModel].translate[1] = minY + ((maxY - minY) * y / 1023.0);
+    }
     // Always process button events, regardless of control scheme, so the main menu button can be captured
     buttonEvt_t evt = {0};
     while (checkButtonQueueWrapper(&evt))
@@ -233,44 +263,27 @@ static void accelTestMainLoop(int64_t elapsedUs)
 
         if (evt.down && (PB_B == evt.button))
         {
-            accelTest->translateY = !accelTest->translateY;
+            accelTest->selectedModel = (accelTest->selectedModel + 1) % accelTest->scene.modelCount;
         }
 
         if (evt.down && (PB_UP == evt.button))
         {
-            accelTest->scale += .1;
+            accelTest->scene.models[accelTest->selectedModel].scale += .1;
         }
 
         if (evt.down && (PB_DOWN == evt.button))
         {
-            if (accelTest->scale > .15)
-            {
-                accelTest->scale -= .1;
-            }
+            accelTest->scene.models[accelTest->selectedModel].scale -= .1;
         }
 
         if (evt.down && (PB_LEFT == evt.button))
         {
-            if (accelTest->translateY)
-            {
-                accelTest->translate[1] -= 5.0;
-            }
-            else
-            {
-                accelTest->translate[0] -= 5.0;
-            }
+            accelTest->scene.models[accelTest->selectedModel].translate[0] -= 5.0;
         }
 
         if (evt.down && (PB_RIGHT == evt.button))
         {
-            if (accelTest->translateY)
-            {
-                accelTest->translate[1] += 5.0;
-            }
-            else
-            {
-                accelTest->translate[0] += 5.0;
-            }
+            accelTest->scene.models[accelTest->selectedModel].translate[0] += 5.0;
         }
 
         ESP_LOGI("Accel", "Scale: %f", accelTest->scale);
@@ -330,11 +343,22 @@ static void accelTestHandleInput(void)
 static void accelDrawBunny(void)
 {
     // Get the orientation from the accelerometer
-    float orient[4];
-    memcpy(orient, LSM6DSL.fqQuat, sizeof(orient));
+    for (uint8_t i = 0; i < accelTest->scene.modelCount; i++)
+    {
+        memcpy(accelTest->scene.models[i].orient, LSM6DSL.fqQuat, sizeof(float) * 4);
+
+        if (i == 0)
+        {
+            float objRot[4] = {0};
+            objRot[3] = 600.0;
+            mathQuatApply(accelTest->scene.models[i].orient, accelTest->scene.models[i].orient, objRot);
+        }
+    }
+
+    drawScene(&accelTest->scene, 0, 0, TFT_WIDTH, TFT_HEIGHT);
 
-    drawModel(&accelTest->donut, orient, accelTest->scale / 2, accelTest->translate, 0, TFT_HEIGHT / 2, TFT_WIDTH / 2, TFT_HEIGHT / 2);
-    drawModel(&accelTest->bunny, orient, accelTest->scale / 2, accelTest->translate, TFT_WIDTH / 2, TFT_HEIGHT / 2, TFT_WIDTH / 2, TFT_HEIGHT / 2);
+    //drawModel(&accelTest->donut, orient, accelTest->scale / 2, accelTest->translate, 0, TFT_HEIGHT / 2, TFT_WIDTH / 2, TFT_HEIGHT / 2);
+    //drawModel(&accelTest->bunny, orient, accelTest->scale / 2, accelTest->translate, TFT_WIDTH / 2, TFT_HEIGHT / 2, TFT_WIDTH / 2, TFT_HEIGHT / 2);
 }
 
 /**