Revision 0:2a5dccfd318f, committed 2010-01-14

Comitter:

igorsk

Date:

Thu Jan 14 00:49:39 2010 +0000

Commit message:

Changed in this revision

diff -r 000000000000 -r 2a5dccfd318f Graphics/Cuboid.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Graphics/Cuboid.cpp	Thu Jan 14 00:49:39 2010 +0000
@@ -0,0 +1,100 @@
+/* 
+ * libmbed-graphics 2D and wireframe 3D graphics library for the MBED
+ * microcontroller platform
+ * Copyright (C) <2009> Michael Sheldon <mike@mikeasoft.com>
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Library General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Library General Public License for more details.
+ *
+ * You should have received a copy of the GNU Library General Public
+ * License along with this library; if not, write to the
+ * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#include "Cuboid.h"
+
+// six sides, four vertices in each
+int _cube[6][4][3]={
+    {
+        {-10,-10,-10},
+        { 10,-10,-10},
+        { 10, 10,-10},
+        {-10, 10,-10}
+    },{
+        {-10,-10, 10},
+        { 10,-10, 10},
+        { 10, 10, 10},
+        {-10, 10, 10}
+    },{
+        {-10,-10,-10},
+        { 10,-10,-10},
+        { 10,-10, 10},
+        {-10,-10, 10}
+    },{
+        {-10, 10,-10},
+        { 10, 10,-10},
+        { 10, 10, 10},
+        {-10, 10, 10}
+    },{
+        {-10,-10,-10},
+        {-10, 10,-10},
+        {-10, 10, 10},
+        {-10,-10, 10}
+    },{
+        { 10,-10,-10},
+        { 10, 10,-10},
+        { 10, 10, 10},
+        { 10,-10, 10}
+    }
+};
+
+
+Cuboid::Cuboid()
+        : Object3D::Object3D()  {
+
+}
+
+void Cuboid::render(Graphics &g)
+{
+    int side, v;
+    int x[4], y[4], z[4];
+    
+    for (side = 0; side < 6; side++)
+    {
+        for (v = 0; v < 4; v++)
+        {
+            x[v] = _cube[side][v][0];
+            y[v] = _cube[side][v][1];
+            z[v] = _cube[side][v][2];
+        }
+        rotate3d(x, y, z, _rx, _ry, _rz, 4);
+        for (v = 0; v < 4; v++)
+        {
+            x[v] += _x;
+            y[v] += _y;
+            z[v] += _z;
+        }
+        for (v = 0; v < 4; v++)
+        {
+            g.line3d(x[v], y[v], z[v], x[(v+1)%4], y[(v+1)%4], z[(v+1)%4], _colour);
+        }
+    }
+
+    /*x0 = _cube[1][0][0];
+    y0 = _cube[1][0][1];
+    z0 = _cube[1][0][2];
+    rotate3d(&x0, &y0, &z0, _rx, _ry, _rz);
+    x1 = _cube[0][0][0];
+    y1 = _cube[0][0][1];
+    z1 = _cube[0][0][2];
+    rotate3d(&x1, &y1, &z1, _rx, _ry, _rz);
+    g.line3d(x0 + _x, y0 + _y, z0 + _z, x1 + _x, y1 + _y, z1 + _z, _colour);*/
+}
\ No newline at end of file

diff -r 000000000000 -r 2a5dccfd318f Graphics/Cuboid.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Graphics/Cuboid.h	Thu Jan 14 00:49:39 2010 +0000
@@ -0,0 +1,44 @@
+/* 
+ * libmbed-graphics 2D and wireframe 3D graphics library for the MBED
+ * microcontroller platform
+ * Copyright (C) <2009> Michael Sheldon <mike@mikeasoft.com>
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Library General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Library General Public License for more details.
+ *
+ * You should have received a copy of the GNU Library General Public
+ * License along with this library; if not, write to the
+ * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+ 
+#ifndef MBED_CUBOID_H
+#define MBED_CUBOID_H
+
+#include "Object3D.h"
+
+/* Class: Cuboid
+ * Displays a 3D wireframe cuboid.
+ */
+class Cuboid : public Object3D {
+
+    public:
+        Cuboid();
+        
+        /* Function: render
+         * Draws the cuboid to the specified graphical context.
+         *
+         * Parameters:
+         * g - The graphical context to which this cuboid should be rendered.
+         */
+        virtual void render(Graphics &g);
+        
+};
+#endif
\ No newline at end of file

diff -r 000000000000 -r 2a5dccfd318f Graphics/Graphics.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Graphics/Graphics.cpp	Thu Jan 14 00:49:39 2010 +0000
@@ -0,0 +1,117 @@
+/* 
+ * libmbed-graphics 2D and wireframe 3D graphics library for the MBED
+ * microcontroller platform
+ * Copyright (C) <2009> Michael Sheldon <mike@mikeasoft.com>
+ * Optimized and adapted for AbstractLCD interface
+ * Copyright (C) <2010> Igor Skochinsky <skochinsky@gmail.com>
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Library General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Library General Public License for more details.
+ *
+ * You should have received a copy of the GNU Library General Public
+ * License along with this library; if not, write to the
+ * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#include "Graphics.h"
+
+// swap two values
+#define SWAP(a, b) (((a) == (b)) || (((a) ^= (b)), ((b) ^= (a)), ((a) ^= (b))))
+
+Graphics::Graphics(AbstractLCD *lcd)
+    : _lcd(lcd) { 
+    _cx3d = _lcd->width() / 2;
+    _cy3d = _lcd->height() / 2;
+    _cz3d = 150;
+}
+
+void Graphics::line(int x0, int y0, int x1, int y1, int colour) {
+    // Bresenham
+    //printf("line(%d, %d, %d, %d, %d)\n", x0, y0, x1, y1, colour);
+    bool steep = abs(y1 - y0) > abs(x1 - x0);
+    int temp, deltax, deltay, error, ystep, y, x;
+    if (steep) {
+        temp = y0;
+        y0 = x0;
+        x0 = temp;
+        temp = y1;
+        y1 = x1;
+        x1 = temp;
+    }
+    if (x0 > x1) {
+        temp = x1;
+        x1 = x0;
+        x0 = temp;
+        temp = y1;
+        y1 = y0;
+        y0 = temp;
+    }
+    deltax = x1 - x0;
+    deltay = abs(y1 - y0);
+    error = deltax / 2;
+    y = y0;
+    if (y0 < y1) {
+        ystep = 1;
+    } else {
+        ystep = -1;
+    }
+    for (x=x0; x<=x1; x++) {
+        if (steep) {
+            _lcd->pixel(y, x, colour);
+        } else {
+            _lcd->pixel(x, y, colour);
+        }
+        error = error - deltay;
+        if (error < 0) {
+            y = y + ystep;
+            error = error + deltax;
+        }
+    }
+}
+
+void Graphics::line3d(int x0, int y0, int z0, int x1, int y1, int z1, int colour) {
+    if (z0 + _cz3d <= 0 || z1 + _cz3d <= 0) {
+        // Behind the camera
+        return;
+    }
+    
+    int u0 = _cx3d + x0 * _cz3d / (z0 + _cz3d);
+    int v0 = _cy3d + y0 * _cz3d / (z0 + _cz3d);
+    int u1 = _cx3d + x1 * _cz3d / (z1 + _cz3d);
+    int v1 = _cy3d + y1 * _cz3d / (z1 + _cz3d);
+    line(u0, v0, u1, v1, colour);
+}
+
+void Graphics::circle(int cx, int cy, int radius, int colour) {
+    int x = 0;
+    int y = radius;
+    int d = 3 - (2 * radius);
+
+    while (x <= y) {
+        _lcd->pixel(cx + x, cy + y, colour);
+        _lcd->pixel(cx + y, cy + x, colour);
+        _lcd->pixel(cx - x, cy + y, colour);
+        _lcd->pixel(cx + y, cy - x, colour);
+        _lcd->pixel(cx - x, cy - y, colour);
+        _lcd->pixel(cx - y, cy - x, colour);
+        _lcd->pixel(cx + x, cy - y, colour);
+        _lcd->pixel(cx - y, cy + x, colour);
+
+        if (d<0)
+            d += (4 * x) + 6;
+        else
+        {
+            d += (4 * (x - y)) + 10;
+            y--;
+        }
+        x++;
+    }
+}

diff -r 000000000000 -r 2a5dccfd318f Graphics/Graphics.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Graphics/Graphics.h	Thu Jan 14 00:49:39 2010 +0000
@@ -0,0 +1,90 @@
+/* 
+ * libmbed-graphics 2D and wireframe 3D graphics library for the MBED
+ * microcontroller platform
+ * Copyright (C) <2009> Michael Sheldon <mike@mikeasoft.com>
+ * Optimized and adapted for AbstractLCD interface
+ * Copyright (C) <2010> Igor Skochinsky <skochinsky@gmail.com>
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Library General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Library General Public License for more details.
+ *
+ * You should have received a copy of the GNU Library General Public
+ * License along with this library; if not, write to the
+ * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#ifndef MBED_GRAPHICS_H
+#define MBED_GRAPHICS_H
+
+#include "mbed.h"
+#include "AbstractLCD.h"
+
+/* Class: Graphics
+ * A general purpose graphics library providing 2D and wireframe 3D functionality. 
+ * Needs an implementation of AbstractLCD interface to work.
+ */
+class Graphics 
+{
+
+    public:
+        /* Constructor: Graphics
+         * Instantiate the graphics library.
+         *
+         * Parameters:
+         *  lcd - an implementation of LCD device
+         */
+        Graphics(AbstractLCD *lcd);
+        
+        /* Function: line
+         * Draw a coloured line between two points.
+         *
+         * Parameters:
+         *  x0 - X co-ordinate of the start of the line.
+         *  y0 - Y co-ordinate of the start of the line.
+         *  x1 - X co-ordinate of the end of the line.
+         *  y1 - Y co-ordinate of the end of the line.
+         *  colour - The colour of the line.
+         */
+        void line(int x0, int y0, int x1, int y1, int colour);
+        
+        /* Function: line3d
+         * Draws a coloured line in 3D space. The 3D origin point is in
+         * the centre of the screen.
+         *
+         * Parameters:
+         * x0 - X co-ordinate of the start of the line.
+         * y0 - Y co-ordinate of the start of the line.
+         * z0 - Z (depth) co-ordinate of the start of the line.
+         * x1 - X co-ordinate of the end of the line.
+         * y1 - Y co-ordinate of the end of the line.
+         * z1 - Z co-ordinate of the end of the line.
+         * colour - The colour of the line.
+         */
+        void line3d(int x0, int y0, int z0, int x1, int y1, int z0, int colour);        
+        
+        /* Function: circle
+         * Draw a coloured circle.
+         *
+         * Parameters:
+         * cx - X co-ordinate of the centre of the circle.
+         * cy - Y co-ordinate of the centre of the circle.
+         * radius - The radius of the circle.
+         * colour - The colour of the circle.
+         */
+        void circle(int cx, int cy, int radius, int colour);
+        
+    protected:
+        int _cx3d, _cy3d, _cz3d; // 3D focal point
+        AbstractLCD *_lcd;
+        
+};
+
+#endif

diff -r 000000000000 -r 2a5dccfd318f Graphics/Object3D.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Graphics/Object3D.cpp	Thu Jan 14 00:49:39 2010 +0000
@@ -0,0 +1,156 @@
+/* 
+ * libmbed-graphics 2D and wireframe 3D graphics library for the MBED
+ * microcontroller platform
+ * Copyright (C) <2009> Michael Sheldon <mike@mikeasoft.com>
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Library General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Library General Public License for more details.
+ *
+ * You should have received a copy of the GNU Library General Public
+ * License along with this library; if not, write to the
+ * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+ 
+#include "Object3D.h"
+
+Object3D::Object3D() {
+    _x = 0;
+    _y = 0;
+    _z = 0;
+    _rx = 0;
+    _ry = 0;
+    _rz = 0;
+    _sx = 1;
+    _sy = 1;
+    _sz = 1;
+    _colour = 0xffffff;
+}
+
+void Object3D::position(int x, int y, int z) {
+    _x = x;
+    _y = y;
+    _z = z;
+}
+
+void Object3D::rotate(float rx, float ry, float rz) {
+    _rx = rx;
+    _ry = ry;
+    _rz = rz;
+}
+
+void Object3D::scale(float sx, float sy, float sz) {
+    _sx = sx;
+    _sy = sy;
+    _sz = sz;
+}
+
+void Object3D::colour(int colour) {
+    _colour = colour;
+}
+
+#define FASTSINCOS
+
+#ifdef FASTSINCOS
+
+// http://www.dspguru.com/dsp/tricks/parabolic-approximation-of-sin-and-cos
+
+#define M_PI       3.14159265358979323846
+#define M_PI_2     1.57079632679489661923
+#define M_PI_4     0.785398163397448309616
+#define M_C        0.71256755058
+
+void sincosf(float angle, float *sinx, float *cosx)
+{
+    int quarter = int(floor(angle/M_PI_2));
+    
+    float modphase = angle - quarter*M_PI_2;
+    if ( modphase < 0 )
+        modphase += M_PI_2;
+    
+    quarter %= 4;
+    if ( quarter < 0 )
+        quarter += 4;
+    
+    modphase = modphase/M_PI_2;
+
+    //printf("Angle: %f, q: %d, mod: %f\n", angle, quarter, modphase);
+    float x, temp;
+    switch (quarter)
+    { 
+    case 0:
+        // First quarter, angle = 0 .. pi/2
+        x = modphase - 0.5f;      // 1 sub
+        temp = (2 - 4*M_C)*x*x + M_C; // 2 mul, 1 add
+        *sinx = temp + x;              // 1 add
+        *cosx = temp - x;              // 1 sub
+        break;
+    case 1:
+        // Second quarter, angle = pi/2 .. pi
+        x = 0.5f - modphase;      // 1 sub
+        temp = (2 - 4*M_C)*x*x + M_C; // 2 mul, 1 add
+        *sinx = x + temp;              // 1 add
+        *cosx = x - temp;              // 1 sub
+        break;
+    case 2:
+        // Third quarter, angle = pi .. 1.5pi
+        x = modphase - 0.5f;      // 1 sub
+        temp = (4*M_C - 2)*x*x - M_C; // 2 mul, 1 sub
+        *sinx = temp - x;              // 1 sub
+        *cosx = temp + x;              // 1 add
+        break;
+    case 3:
+        // Fourth quarter, angle = 1.5pi..2pi
+        x = modphase - 0.5f;      // 1 sub
+        temp = (2 - 4*M_C)*x*x + M_C; // 2 mul, 1 add
+        *sinx = x - temp;              // 1 sub
+        *cosx = x + temp;              // 1 add
+        break;
+    }
+}
+
+#else // FASTSINCOS
+
+void sincosf(float angle, float *sinx, float *cosx)
+{
+  *sinx = sin(angle);
+  *cosx = cos(angle);
+}
+
+#endif // FASTSINCOS
+
+
+void rotate3d(int *x, int *y, int *z, float anglex, float angley, float anglez, int count)
+{    
+    float sinx, cosx, siny, cosy, sinz, cosz;
+    sincosf(anglex, &sinx, &cosx);    
+    sincosf(angley, &siny, &cosy);
+    sincosf(anglez, &sinz, &cosz);
+    
+    for ( int i=0; i < count; i++)
+    {
+        int x1 = x[i];
+        int y1 = y[i];
+        int z1 = z[i];
+        
+        int y2 = cosx * y1 - sinx * z1;
+        int z2 = sinx * y1 + cosx * z1;
+    
+        int x2 = cosy * x1 + siny * z2;
+        int z3 = -siny * x1 + cosy * z2;
+        
+        int x3 = cosz * x2 - sinz * y2;
+        int y3 = sinz * x2 + cosz * y2;
+        
+        x[i] = x3;
+        y[i] = y3;
+        z[i] = z3;
+    }
+}

diff -r 000000000000 -r 2a5dccfd318f Graphics/Object3D.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Graphics/Object3D.h	Thu Jan 14 00:49:39 2010 +0000
@@ -0,0 +1,104 @@
+/* 
+ * libmbed-graphics 2D and wireframe 3D graphics library for the MBED
+ * microcontroller platform
+ * Copyright (C) <2009> Michael Sheldon <mike@mikeasoft.com>
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Library General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Library General Public License for more details.
+ *
+ * You should have received a copy of the GNU Library General Public
+ * License along with this library; if not, write to the
+ * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#ifndef MBED_OBJECT3D_H
+#define MBED_OBJECT3D_H
+
+#include "Graphics.h"
+
+/* Class: Object3D
+ * General purpose 3D base object, new 3D objects should inherit
+ * from this class.
+ */
+class Object3D {
+
+    public:
+        Object3D();
+        
+        /* Function: position
+         * Specify the position of the object in 3D space.
+         *
+         * Parameters:
+         * x - X co-ordinate of the point that the centre of the object should be placed at.
+         * y - Y co-ordinate of the point that the centre of the object should be placed at.
+         * z - Z co-ordinate of the point that the centre of the object should be placed at.
+         */
+        void position(int x, int y, int z);
+        
+        /* Function: rotate
+         * Rotate the object about it's centre point.
+         *
+         * Parameters:
+         * rx - Component of the rotation along the x-axis in radians.
+         * ry - Component of the rotation along the y-axis in radians.
+         * rz - Component of the rotation along the z-axis in radians.
+         */
+        void rotate(float rx, float ry, float rz);
+        
+        /* Function: scale
+         * Modify the size of the object.
+         *
+         * Parameters:
+         * sx - Proportion to change the object's size by along the x axis.
+         * sy - Proportion to change the object's size by along the y axis.
+         * sz - Proportion to change the object's size by along the z axis.
+         */
+        void scale(float sx, float sy, float sz);
+        
+        /* Function: colour
+         * Sets the colour of the object.
+         *
+         * Parameters:
+         * colour - The colour of the object.
+         */
+        void colour(int colour);
+        
+        /* Function: render
+         * Draws the object on the specified graphical context.
+         *
+         * Parameters:
+         * g - The graphical context to which the object should be rendered.
+         */
+        virtual void render(Graphics &g) = 0;
+        
+    protected:
+        int _x, _y, _z;
+        float _rx, _ry, _rz;
+        float _sx, _sy, _sz;
+        int _colour;        
+};
+
+        
+/* Function: rotate3d
+ * Rotates point(s) in 3D space about origin (0,0,0)
+ *
+ * Parameters:
+ * x - Pointer to the x co-ordinate(s) of the point(s) to be rotated.
+ * y - Pointer to the y co-ordinate(s) of the point(s) to be rotated.
+ * z - Pointer to the z co-ordinate(s) of the point(s) to be rotated.
+ * anglex - The angle to rotate the point by around axis x in radians.
+ * angley - The angle to rotate the point by around axis y in radians.
+ * anglez - The angle to rotate the point by around axis z in radians.
+ * count  - count of coordinates pointed to by x, y and z
+ */
+void rotate3d(int *x, int *y, int *z, float anglex, float angley, float anglez, int count = 1);
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r 2a5dccfd318f Graphics/TrimeshObject.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Graphics/TrimeshObject.cpp	Thu Jan 14 00:49:39 2010 +0000
@@ -0,0 +1,59 @@
+/* 
+ * libmbed-graphics 2D and wireframe 3D graphics library for the MBED
+ * microcontroller platform
+ * Copyright (C) <2009> Michael Sheldon <mike@mikeasoft.com>
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Library General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Library General Public License for more details.
+ *
+ * You should have received a copy of the GNU Library General Public
+ * License along with this library; if not, write to the
+ * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+ 
+#include "TrimeshObject.h"
+ 
+TrimeshObject::TrimeshObject(int vertices[][3], int faces[][3], int num_faces)
+    : Object3D::Object3D() {
+     _vertices = vertices;
+     _faces = faces;
+     _num_faces = num_faces;
+}
+
+void TrimeshObject::render(Graphics &g) {
+    int face, fv0, fv1, fv2;
+    int *v0, *v1, *v2;
+    int x[3], y[3], z[3];
+    for (face = 0; face < _num_faces; face++) {
+        fv0 = _faces[face][0];
+        fv1 = _faces[face][1];
+        fv2 = _faces[face][2];
+        v0 = _vertices[fv0];
+        v1 = _vertices[fv1];
+        v2 = _vertices[fv2];
+
+        x[0] = v0[0];    x[1] = v1[0];    x[2] = v2[0];
+        y[0] = v0[1];    y[1] = v1[1];    y[2] = v2[1];
+        z[0] = v0[2];    z[1] = v1[2];    z[2] = v2[2];
+        rotate3d(x, y, z, _rx, _ry, _rz, 3);
+        
+        for ( int i=0; i < 3; i++ )
+        {
+            x[i] += _x;
+            y[i] += _y;
+            z[i] += _z;
+        }
+        
+        g.line3d(x[0], y[0], z[0], x[1], y[1], z[1], _colour);
+        g.line3d(x[1], y[1], z[1], x[2], y[2], z[2], _colour);
+        g.line3d(x[2], y[2], z[2], x[0], y[0], z[0], _colour);
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r 2a5dccfd318f Graphics/TrimeshObject.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Graphics/TrimeshObject.h	Thu Jan 14 00:49:39 2010 +0000
@@ -0,0 +1,59 @@
+/* 
+ * libmbed-graphics 2D and wireframe 3D graphics library for the MBED
+ * microcontroller platform
+ * Copyright (C) <2009> Michael Sheldon <mike@mikeasoft.com>
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Library General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Library General Public License for more details.
+ *
+ * You should have received a copy of the GNU Library General Public
+ * License along with this library; if not, write to the
+ * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#ifndef MBED_TRIMESHOBJECT_H
+#define MBED_TRIMESHOBJECT_H
+
+#include "Object3D.h"
+
+/* Class: TrimeshObject
+ * Constructs 3D objects from triangle meshes specified by lists of
+ * vertices and faces.
+ */
+class TrimeshObject : public Object3D {
+
+    public:
+        /* Constructor: TrimeshObject
+         * Instantiate a trimesh object.
+         *
+         * Parameters:
+         * vertices - A multidimensional array containing a list of vertices.
+         * faces - A multidimensional array containing a list of faces, connecting vertices together to form triangles.
+         * num_faces - The number of faces in the "faces" array.
+         */
+        TrimeshObject(int vertices[][3], int faces[][3], int num_faces);
+        
+        /* Function: render
+         * Draws the trimesh object to the specified graphical context.
+         *
+         * Parameters:
+         * g - The graphical context to which the trimesh object should be rendered.
+         */
+        virtual void render(Graphics &g);
+        
+    protected:
+        int (*_vertices)[3];
+        int (*_faces)[3];
+        int _num_faces;
+
+};
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r 2a5dccfd318f LCD/AbstractLCD.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LCD/AbstractLCD.h	Thu Jan 14 00:49:39 2010 +0000
@@ -0,0 +1,30 @@
+#ifndef MBED_ABSTRACTLCD_H
+#define MBED_ABSTRACTLCD_H
+ 
+#include "mbed.h"
+
+/* Class: AbstractLCD
+ *
+ */
+
+class AbstractLCD
+{
+public:
+    virtual ~AbstractLCD() {};
+    // return LDC width
+    virtual int width() = 0;
+    // return LDC height
+    virtual int height() = 0;
+    // put a pixel on the screen
+    virtual void pixel(int x, int y, int colour) = 0;
+    // fill a rectangular area
+    virtual void fill(int x, int y, int width, int height, int colour) = 0;
+    // begin an update sequence: 
+    // remember drawing operations but do not update the display
+    virtual void beginupdate() = 0;
+    // end an update sequence
+    // update display to reflect all queued operations
+    virtual void endupdate() = 0;
+};
+
+#endif

diff -r 000000000000 -r 2a5dccfd318f LCD/DogLCD.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LCD/DogLCD.cpp	Thu Jan 14 00:49:39 2010 +0000
@@ -0,0 +1,207 @@
+#include "DogLCD.h"
+
+// macro to make sure x falls into range from low to high (inclusive)
+#define CLAMP(x, low, high) { if ( (x) < (low) ) x = (low); if ( (x) > (high) ) x = (high); } while (0);
+
+void DogLCD::_send_commands(const unsigned char* buf, size_t size)
+{
+    // for commands, A0 is low
+    _spi.format(8,0);
+    _spi.frequency(10000000);
+    _cs = 0;
+    _a0 = 0;
+    while ( size-- > 0 )
+        _spi.write(*buf++);
+    _cs = 1;
+}
+
+void DogLCD::_send_data(const unsigned char* buf, size_t size)
+{
+    // for data, A0 is high
+    _spi.format(8,0);
+    _spi.frequency(10000000);
+    _cs = 0;
+    _a0 = 1;
+    while ( size-- > 0 )
+        _spi.write(*buf++);
+    _cs = 1;
+    _a0 = 0;
+}
+
+// set column and page number
+void DogLCD::_set_xy(int x, int y)
+{
+    //printf("_set_xy(%d,%d)\n", x, y);
+    CLAMP(x, 0, LCDWIDTH-1);
+    CLAMP(y, 0, LCDPAGES-1);
+    unsigned char cmd[3];
+    cmd[0] = 0xB0 | (y&0xF);
+    cmd[1] = 0x10 | (x&0xF);
+    cmd[2] = (x>>4)&0xF;
+    _send_commands(cmd, 3);        
+}
+
+// initialize and turn on the display
+void DogLCD::init()
+{
+    const unsigned char init_seq[] = {
+        0x40,    //Display start line 0
+        0xa1,    //ADC reverse
+        0xc0,    //Normal COM0...COM63
+        0xa6,    //Display normal
+        0xa2,    //Set Bias 1/9 (Duty 1/65)
+        0x2f,    //Booster, Regulator and Follower On
+        0xf8,    //Set internal Booster to 4x
+        0x00,
+        0x27,    //Contrast set
+        0x81,
+        0x16,
+        0xac,    //No indicator
+        0x00,
+        0xaf,    //Display on
+    };        
+    //printf("Reset=L\n");
+    _reset = 0;
+    //printf("Power=H\n");
+    _power = 1;
+    //wait_ms(1);
+    //printf("Reset=H\n");
+    _reset = 1;
+    //wait(5);
+    //printf("Sending init commands\n");
+    _send_commands(init_seq, sizeof(init_seq));
+}
+
+void DogLCD::send_pic(const unsigned char* data)
+{
+    //printf("Sending picture\n");
+    for (int i=0; i<LCDPAGES; i++)
+    {
+        _set_xy(0, i);
+        _send_data(data + i*LCDWIDTH, LCDWIDTH);
+    }
+}
+
+void DogLCD::clear_screen()
+{
+    //printf("Clear screen\n");
+    memset(_framebuffer, 0, sizeof(_framebuffer));
+    if ( _updating == 0 )
+    {
+        send_pic(_framebuffer);
+    }
+}
+
+void DogLCD::all_on(bool on)
+{
+    //printf("Sending all on %d\n", on);
+    unsigned char cmd = 0xA4 | (on ? 1 : 0);
+    _send_commands(&cmd, 1);
+}
+
+void DogLCD::pixel(int x, int y, int colour)
+{
+    CLAMP(x, 0, LCDWIDTH-1);
+    CLAMP(y, 0, LCDHEIGHT-1);
+    int page = y / 8;
+    unsigned char mask = 1<<(y%8);
+    unsigned char *byte = &_framebuffer[page*LCDWIDTH + x];
+    if ( colour == 0 )
+        *byte &= ~mask; // clear pixel
+    else
+        *byte |= mask; // set pixel
+    if ( !_updating )
+    {
+        _set_xy(x, page);
+        _send_data(byte, 1);
+    }
+}
+
+void DogLCD::fill(int x, int y, int width, int height, int colour)
+{
+    /*
+      If we need to fill partial pages at the top:
+      
+      ......+---+---+.....
+       ^    | = | = |     = : don't touch
+       |    | = | = |     * : update 
+      y%8   | = | = |      
+       |    | = | = |      
+       v    | = | = |      
+    y---->  | * | * |      
+            | * | * |      
+            | * | * |
+            +---+---+      
+    */
+    //printf("fill(x=%d, y=%d, width=%d, height=%d, colour=%x)\n",  x, y, width, height, colour);
+    CLAMP(x, 0, LCDWIDTH-1);
+    CLAMP(y, 0, LCDHEIGHT-1);
+    CLAMP(width, 0, LCDWIDTH - x);
+    CLAMP(height, 0, LCDHEIGHT - y);
+    int page = y/8;
+    int firstpage = page;
+    int partpage = y%8;
+    if ( partpage != 0 )
+    {
+        // we need to process partial bytes in the top page
+        unsigned char mask = (1<<partpage) - 1; // this mask has 1s for bits we need to leave
+        unsigned char *bytes = &_framebuffer[page*LCDWIDTH + x];
+        for ( int i = 0; i < width; i++, bytes++ )
+        {
+          // clear "our" bits
+          *bytes &= mask;
+          if ( colour != 0 )
+            *bytes |= ~mask; // set our bits
+        }
+        height -= partpage;
+        page++;
+    }
+    while ( height >= 8 )
+    {
+        memset(&_framebuffer[page*LCDWIDTH + x], colour == 0 ? 0 : 0xFF, width);
+        page++;
+        height -= 8; 
+    } 
+    if ( height != 0 )
+    {
+        // we need to process partial bytes in the bottom page
+        unsigned char mask = ~((1<<partpage) - 1); // this mask has 1s for bits we need to leave
+        unsigned char *bytes = &_framebuffer[page*LCDWIDTH + x];
+        for ( int i = 0; i < width; i++, bytes++ )
+        {
+          // clear "our" bits
+          *bytes &= mask;
+          if ( colour != 0 )
+            *bytes |= ~mask; // set our bits
+        }
+        page++;
+    }
+    //printf("_updating=%d\n", _updating);
+    if ( !_updating )
+    {
+        int laststpage = page;
+        for ( page = firstpage; page < laststpage; page++)
+        {
+            //printf("setting x=%d, page=%d\n", x, page);
+            _set_xy(x, page);
+            //printf("sending %d bytes at offset %x\n", width, page*LCDWIDTH + x);
+            _send_data(&_framebuffer[page*LCDWIDTH + x], width);
+        }
+    }
+}     
+
+void DogLCD::beginupdate()
+{
+    _updating++;
+    //printf("beginupdate: %d\n", _updating);
+}
+
+void DogLCD::endupdate()
+{    
+    _updating--;
+    //printf("endupdate: %d\n", _updating);
+    if ( _updating == 0 )
+    {
+        send_pic(_framebuffer);
+    }
+}

diff -r 000000000000 -r 2a5dccfd318f LCD/DogLCD.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LCD/DogLCD.h	Thu Jan 14 00:49:39 2010 +0000
@@ -0,0 +1,71 @@
+#ifndef MBED_DOGLCD_H
+#define MBED_DOGLCD_H
+
+#include "AbstractLCD.h"
+
+/***********
+ * Module for Electronic Assembly's DOGL128-6 display module
+ * Should be compatible with other modules using ST7565 controller
+ ***********/
+ 
+#define LCDWIDTH 128
+#define LCDHEIGHT 64
+#define LCDPAGES  (LCDHEIGHT+7)/8
+
+/*
+
+ Each page is 8 lines, one byte per column
+ 
+         Col0
+        +---+--
+        | 0 |
+Page 0  | 1 |
+        | 2 |
+        | 3 |
+        | 4 |
+        | 5 |
+        | 6 |
+        | 7 |
+        +---+--
+*/
+
+/*
+  LCD interface class.
+  Usage: 
+    DogLCD dog(spi, pin_power, pin_cs, pin_a0, pin_reset);
+    where spi is an instance of SPI class
+*/
+
+class DogLCD: public AbstractLCD
+{
+    SPI& _spi;
+    DigitalOut _cs, _a0, _reset, _power;
+    int _updating;
+    void _send_commands(const unsigned char* buf, size_t size);
+    void _send_data(const unsigned char* buf, size_t size);
+    void _set_xy(int x, int y);
+    unsigned char _framebuffer[LCDWIDTH*LCDPAGES];
+public:
+    DogLCD(SPI& spi, PinName power, PinName cs, PinName a0, PinName reset):
+    _spi(spi), _cs(cs), _a0(a0), _reset(reset), _power(power), _updating(0)
+    {
+    }
+    // initialize and turn on the display
+    void init();
+    // send a 128x64 picture for the whole screen
+    void send_pic(const unsigned char* data);
+    // clear screen
+    void clear_screen();
+    // turn all pixels on
+    void all_on(bool on = true);
+    
+    // AbstractLCD methods
+    virtual int width()  {return LCDWIDTH;};
+    virtual int height() {return LCDHEIGHT;};
+    virtual void pixel(int x, int y, int colour);
+    virtual void fill(int x, int y, int width, int height, int colour);
+    virtual void beginupdate();
+    virtual void endupdate();
+};
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r 2a5dccfd318f TieFighter.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TieFighter.h	Thu Jan 14 00:49:39 2010 +0000
@@ -0,0 +1,134 @@
+#ifndef MBED_TIEFIGHTER_H
+#define MBED_TIEFIGHTER_H
+
+
+
+int tie_fighter_vertices[48][3] = {
+    // Left wing - v0
+    {0, 0, 17},
+    {10, -15, 15},
+    {-10, -15, 15},
+    {-15, 0, 15},
+    {-10, 15, 15},
+    {-10, 15, 15},
+    {10, 15, 15},
+    {15, 0, 15},
+
+    // Left inner wing connector - v8
+    {0, 0, 17},
+    {4, -4, 15},
+    {-4, -4, 15},
+    {-4, 0, 15},
+    {-4, 4, 15},
+    {-4, 4, 15},
+    {4, 4, 15},
+    {4, 0, 15},
+    
+    // Right wing - v16
+    {0, 0, -17},
+    {10, -15, -15},
+    {-10, -15, -15},
+    {-15, 0, -15},
+    {-10, 15, -15},
+    {-10, 15, -15},
+    {10, 15, -15},
+    {15, 0, -15},
+    
+    // Right inner wing connector - v24
+    {0, 0, -17},
+    {4, -4, -15},
+    {-4, -4, -15},
+    {-4, 0, -15},
+    {-4, 4, -15},
+    {-4, 4, -15},
+    {4, 4, -15},
+    {4, 0, -15},
+    
+    // Body - v32
+    {8, 8, -8},
+    {-8, 8, -8},
+    {8, 8, 8},
+    {-8, 8, 8},
+    
+    {8, -8, -8},
+    {-8, -8, -8},
+    {8, -8, 8},
+    {-8, -8, 8},
+
+    // Left wing <-> body connection
+    {-2, -2, 15},
+    {-2, -2, 8},
+    {2, 2, 15},
+    {2, 2, 8},
+    
+    // Right wing <-> body connection
+    {-2, -2, -15},
+    {-2, -2, -8},
+    {2, 2, -15},
+    {2, 2, -8},
+};
+
+#define TIE_FIGHTER_NUM_FACES 32
+int tie_fighter_faces[TIE_FIGHTER_NUM_FACES][3] = {
+    // Left wing
+    {0, 1, 2},
+    {0, 2, 3},
+    {0, 3, 4},
+    {0, 4, 5},
+    {0, 5, 6},
+    {0, 6, 7},
+    {0, 7, 1},
+
+    // Left inner wing connector
+/*    {8, 9, 10},
+    {8, 10, 11},
+    {8, 11, 12},
+    {8, 12, 13},
+    {8, 13, 14},
+    {8, 14, 15},
+    {8, 15, 9}, */
+    
+    // Right wing
+    {16, 17, 18},
+    {16, 18, 19},
+    {16, 19, 20},
+    {16, 20, 21},
+    {16, 21, 22},
+    {16, 22, 23},
+    {16, 23, 17},
+    
+    // Right inner wing connector
+/*    {24, 25, 26},
+    {24, 26, 27},
+    {24, 27, 28},
+    {24, 28, 29},
+    {24, 29, 30},
+    {24, 30, 31},
+    {24, 31, 25},   */
+    
+    // Body
+    {32, 33, 33}, // Hack to just draw some straight lines so the body doesn't look too cluttered with triangles
+    {33, 35, 35},
+    {35, 34, 34},
+    {32, 34, 34},
+    
+    {36, 37, 37},
+    {37, 39, 39},
+    {39, 38, 38},
+    {36, 38, 38},
+    
+    {36, 32, 32},
+    {37, 33, 33},
+    {39, 35, 35},
+    {38, 34, 34},
+    
+    // Left wing <-> body connection
+    {40, 41, 41},
+    {42, 43, 43},
+
+    // Right wing <-> body connection
+    {44, 45, 45},
+    {46, 47, 47},    
+};
+
+#endif

diff -r 000000000000 -r 2a5dccfd318f hellombed.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/hellombed.h	Thu Jan 14 00:49:39 2010 +0000
@@ -0,0 +1,67 @@
+unsigned char pic_hellombed [] = 
+{
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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+};

diff -r 000000000000 -r 2a5dccfd318f main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jan 14 00:49:39 2010 +0000
@@ -0,0 +1,73 @@
+#include "mbed.h"
+#include "Graphics.h"
+#include "Cuboid.h"
+#include "TrimeshObject.h"
+#include "TieFighter.h"
+#include "DogLCD.h"
+#include "hellombed.h"
+
+SPI spi(p5, NC, p7);
+DogLCD dog(spi, p17, p18, p20, p19); //  spi, power, cs, a0, reset
+Graphics g(&dog);
+TrimeshObject tf(tie_fighter_vertices, tie_fighter_faces, TIE_FIGHTER_NUM_FACES);
+Cuboid cube;
+
+int main()
+{
+    dog.init();
+    // draw "hello mbed"
+    dog.send_pic(pic_hellombed);
+    wait(5);
+    // draw rectangle around the screen
+    g.line(0, 0, dog.width()-1, 0, 0xFFFFFF);
+    wait(2);
+    g.line(dog.width()-1, 0, dog.width()-1, dog.height()-1, 0xFFFFFF);
+    wait(2);
+    g.line(dog.width()-1, dog.height()-1, 0, dog.height()-1, 0xFFFFFF);
+    wait(2);
+    g.line(0, dog.height()-1, 0, 0, 0xFFFFFF);
+    wait(5);
+    
+    dog.clear_screen();
+    float rotx = 0, roty = 0, rotz = 0;
+    
+    Timer timer;
+    timer.start();
+    int frameno = 0;
+    const int pollcount = 10;
+    // shift 1/4th of screen to the left
+    tf.position(-dog.width() / 4, 0, 0);
+    tf.colour(0xffffff);
+    // shift 1/4th of screen to the right
+    cube.position(+dog.width() / 4, 0, 0);
+    cube.colour(0xffffff);
+    while (1)
+    {
+        rotx += 0.1;
+        roty += 0.08;
+        rotz += 0.05;
+        
+        // set rotation angles
+        tf.rotate(rotx, roty, rotz);
+        cube.rotate(rotx, roty, rotz);
+        // lock update
+        dog.beginupdate();
+            dog.clear_screen();
+            // render TieFighter
+            tf.render(g);
+            // and the cube
+            cube.render(g);
+        // unlock update (and draw framebuffer)    
+        dog.endupdate();
+        if ( ++frameno == pollcount )
+        {
+            // output fps to serial
+            int end = timer.read_ms();
+            float fps = pollcount*1000.0/end;
+            printf("\r%d frames, %d ms, FPS: %f", pollcount, end, fps);
+            frameno = 0;
+            timer.reset();
+        }
+        //dog.fill(40, 40, 52, 52, 0x000000);
+    }
+}

diff -r 000000000000 -r 2a5dccfd318f mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Jan 14 00:49:39 2010 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/49a220cc26e0