Include new windows files

Pathfinder-Core/include/pathfinder/fit.h

@@ -1,9 +1,11 @@
 #ifndef PATHFINDER_FIT_H_DEF
 #define PATHFINDER_FIT_H_DEF
 
-void pf_fit_hermite_pre(Waypoint a, Waypoint b, Spline *s);
-void pf_fit_hermite_cubic(Waypoint a, Waypoint b, Spline *s);
-void pf_fit_hermite_quintic(Waypoint a, Waypoint b, Spline *s);
+#include "pathfinder/lib.h"
+
+CAPI void pf_fit_hermite_pre(Waypoint a, Waypoint b, Spline *s);
+CAPI void pf_fit_hermite_cubic(Waypoint a, Waypoint b, Spline *s);
+CAPI void pf_fit_hermite_quintic(Waypoint a, Waypoint b, Spline *s);
 
 #define FIT_HERMITE_CUBIC   &pf_fit_hermite_cubic
 #define FIT_HERMITE_QUINTIC &pf_fit_hermite_quintic

Pathfinder-Core/include/pathfinder/followers/distance.h

@@ -1,17 +1,19 @@
 #ifndef PATHFINDER_FOL_DISTANCE_H_DEF
 #define PATHFINDER_FOL_DISTANCE_H_DEF
 
-typedef struct {
+#include "pathfinder/lib.h"
+
+CAPI typedef struct {
     double kp, ki, kd, kv, ka;
 } FollowerConfig;
 
-typedef struct {
+CAPI typedef struct {
     double last_error, heading, output;
     int segment, finished;
 } DistanceFollower;
 
-double pathfinder_follow_distance(FollowerConfig c, DistanceFollower *follower, Segment *trajectory, int trajectory_length, double distance);
+CAPI double pathfinder_follow_distance(FollowerConfig c, DistanceFollower *follower, Segment *trajectory, int trajectory_length, double distance);
 
-double pathfinder_follow_distance2(FollowerConfig c, DistanceFollower *follower, Segment segment, int trajectory_length, double distance);
+CAPI double pathfinder_follow_distance2(FollowerConfig c, DistanceFollower *follower, Segment segment, int trajectory_length, double distance);
 
 #endif

Pathfinder-Core/include/pathfinder/io.h

@@ -4,22 +4,23 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
+#include "pathfinder/lib.h"
 
 #define CSV_LEADING_STRING "dt,x,y,position,velocity,acceleration,jerk,heading\n"
 
-void intToBytes(int n, char *bytes);
-int bytesToInt(char *bytes);
-void longToBytes(unsigned long long n, char *bytes);
-unsigned long long bytesToLong(char *bytes);
-double longToDouble(unsigned long long l);
-unsigned long long doubleToLong(double d);
-void doubleToBytes(double n, char *bytes);
-double bytesToDouble(char *bytes);
+CAPI void intToBytes(int n, char *bytes);
+CAPI int bytesToInt(char *bytes);
+CAPI void longToBytes(unsigned long long n, char *bytes);
+CAPI unsigned long long bytesToLong(char *bytes);
+CAPI double longToDouble(unsigned long long l);
+CAPI unsigned long long doubleToLong(double d);
+CAPI void doubleToBytes(double n, char *bytes);
+CAPI double bytesToDouble(char *bytes);
 
-void pathfinder_serialize(FILE *fp, Segment *trajectory, int trajectory_length);
-int pathfinder_deserialize(FILE *fp, Segment *target);
+CAPI void pathfinder_serialize(FILE *fp, Segment *trajectory, int trajectory_length);
+CAPI int pathfinder_deserialize(FILE *fp, Segment *target);
 
-void pathfinder_serialize_csv(FILE *fp, Segment *trajectory, int trajectory_length);
-int pathfinder_deserialize_csv(FILE *fp, Segment *target);
+CAPI void pathfinder_serialize_csv(FILE *fp, Segment *trajectory, int trajectory_length);
+CAPI int pathfinder_deserialize_csv(FILE *fp, Segment *target);
 
 #endif

Pathfinder-Core/include/pathfinder/lib.h

@@ -0,0 +1,10 @@
+#ifndef PATHFINDER_LIB_H_DEF
+#define PATHFINDER_LIB_H_DEF
+
+#if defined(WIN32) || defined(_WIN32) || defined(__WIN32) && !defined(__CYGWIN__)
+    #define CAPI __declspec(dllexport)
+#else
+    #define CAPI
+#endif
+
+#endif

Pathfinder-Core/include/pathfinder/mathutil.h

@@ -3,16 +3,18 @@
 #ifndef PATHFINDER_MATH_UTIL_H_DEF
 #define PATHFINDER_MATH_UTIL_H_DEF
 
+#include "pathfinder/lib.h"
+
 #define PI 3.14159265358979323846
 #define TAU PI*2
 
 #define MIN(a,b) (((a)<(b))?(a):(b))
 #define MAX(a,b) (((a)>(b))?(a):(b))
 
-double bound_radians(double angle);
+CAPI double bound_radians(double angle);
 
-double r2d(double angleInRads);
+CAPI double r2d(double angleInRads);
 
-double d2r(double angleInDegrees);
+CAPI double d2r(double angleInDegrees);
 
 #endif

Pathfinder-Core/include/pathfinder/modifiers/swerve.h

@@ -1,11 +1,13 @@
 #ifndef PATHFINDER_MOD_SWERVE_H_DEF
 #define PATHFINDER_MOD_SWERVE_H_DEF
 
-typedef enum {
+#include "pathfinder/lib.h"
+
+CAPI typedef enum {
     SWERVE_DEFAULT
 } SWERVE_MODE;
 
-void pathfinder_modify_swerve(Segment *original, int length, Segment *front_left, Segment *front_right,
+CAPI void pathfinder_modify_swerve(Segment *original, int length, Segment *front_left, Segment *front_right,
         Segment *back_left, Segment *back_right, double wheelbase_width, double wheelbase_depth, SWERVE_MODE mode);
 
 #endif

Pathfinder-Core/include/pathfinder/modifiers/tank.h

@@ -1,6 +1,8 @@
 #ifndef PATHFINDER_MOD_TANK_H_DEF
 #define PATHFINDER_MOD_TANK_H_DEF
 
-void pathfinder_modify_tank(Segment *original, int length, Segment *left, Segment *right, double wheelbase_width);
+#include "pathfinder/lib.h"
+
+CAPI void pathfinder_modify_tank(Segment *original, int length, Segment *left, Segment *right, double wheelbase_width);
 
 #endif

Pathfinder-Core/include/pathfinder/spline.h

@@ -1,16 +1,18 @@
 #ifndef PATHFINDER_SPLINE_H_DEF
 #define PATHFINDER_SPLINE_H_DEF
 
+#include "pathfinder/lib.h"
+
 #define PATHFINDER_SAMPLES_FAST (int)1000
 #define PATHFINDER_SAMPLES_LOW  (int)PATHFINDER_SAMPLES_FAST*10
 #define PATHFINDER_SAMPLES_HIGH (int)PATHFINDER_SAMPLES_LOW*10
 
-Coord pf_spline_coords(Spline s, double percentage);
-double pf_spline_deriv(Spline s, double percentage);
-double pf_spline_deriv_2(double a, double b, double c, double d, double e, double k, double p);
-double pf_spline_angle(Spline s, double percentage);
+CAPI Coord pf_spline_coords(Spline s, double percentage);
+CAPI double pf_spline_deriv(Spline s, double percentage);
+CAPI double pf_spline_deriv_2(double a, double b, double c, double d, double e, double k, double p);
+CAPI double pf_spline_angle(Spline s, double percentage);
 
-double pf_spline_distance(Spline *s, int sample_count);
-double pf_spline_progress_for_distance(Spline s, double distance, int sample_count);
+CAPI double pf_spline_distance(Spline *s, int sample_count);
+CAPI double pf_spline_progress_for_distance(Spline s, double distance, int sample_count);
 
 #endif

Pathfinder-Core/include/pathfinder/structs.h

@@ -1,34 +1,36 @@
 #ifndef PATHFINDER_STRUCT_H_DEF
 #define PATHFINDER_STRUCT_H_DEF
 
-typedef struct {
+#include "pathfinder/lib.h"
+
+CAPI typedef struct {
     double x, y, angle;
 } Waypoint;
 
-typedef struct {
+CAPI typedef struct {
     double a, b, c, d, e;
     double x_offset, y_offset, angle_offset, knot_distance, arc_length;
 } Spline;
 
-typedef struct {
+CAPI typedef struct {
     double x, y;
 } Coord;
 
-typedef struct {
+CAPI typedef struct {
     double dt, x, y, position, velocity, acceleration, jerk, heading;
 } Segment;
 
-typedef struct {
+CAPI typedef struct {
     double dt, max_v, max_a, max_j, src_v, src_theta, dest_pos, dest_v, dest_theta;
     int sample_count;
 } TrajectoryConfig;
 
-typedef struct {
+CAPI typedef struct {
     int filter1, filter2, length;
     double dt, u, v, impulse;
 } TrajectoryInfo;
 
-typedef struct {
+CAPI typedef struct {
     Spline *saptr;
     double *laptr;
     double totalLength;

Pathfinder-Core/include/pathfinder/trajectory.h

@@ -1,15 +1,17 @@
 #ifndef PATHFINDER_TRAJECTORY_H_DEF
 #define PATHFINDER_TRAJECTORY_H_DEF
 
-int pathfinder_prepare(Waypoint *path, int path_length, void (*fit)(Waypoint,Waypoint,Spline*), int sample_count, double dt,
+#include "pathfinder/lib.h"
+
+CAPI int pathfinder_prepare(Waypoint *path, int path_length, void (*fit)(Waypoint,Waypoint,Spline*), int sample_count, double dt,
         double max_velocity, double max_acceleration, double max_jerk, TrajectoryCandidate *cand);
-int pathfinder_generate(TrajectoryCandidate *c, Segment *segments);
+CAPI int pathfinder_generate(TrajectoryCandidate *c, Segment *segments);
 
-void pf_trajectory_copy(Segment *src, Segment *dest, int length);
+CAPI void pf_trajectory_copy(Segment *src, Segment *dest, int length);
 
-TrajectoryInfo pf_trajectory_prepare(TrajectoryConfig c);
-int pf_trajectory_create(TrajectoryInfo info, TrajectoryConfig c, Segment *seg);
-int pf_trajectory_fromSecondOrderFilter(int filter_1_l, int filter_2_l, 
+CAPI TrajectoryInfo pf_trajectory_prepare(TrajectoryConfig c);
+CAPI int pf_trajectory_create(TrajectoryInfo info, TrajectoryConfig c, Segment *seg);
+CAPI int pf_trajectory_fromSecondOrderFilter(int filter_1_l, int filter_2_l, 
         double dt, double u, double v, double impulse, int len, Segment *t);
 
 #endif

Pathfinder-Java/jni.gradle

@@ -62,13 +62,24 @@ model {
                     dependsOn jniHeaders
                     def javahome = org.gradle.internal.jvm.Jvm.current().javaHome
 
-                    cCompiler.args '-I', "${javahome}/include"
-                    if (targetPlatform.operatingSystem.windows)
-                        cCompiler.args '-I', "${javahome}/include/win32"
-                    else if (targetPlatform.operatingSystem.macOsX)
-                        cCompiler.args '-I', "${javahome}/include/darwin"
-                    else if (targetPlatform.operatingSystem.linux)
-                        cCompiler.args '-I', "${javahome}/include/linux"
+                    if (toolChain in VisualCpp) {
+                        cCompiler.args "-I${javahome}/include"
+                        if (targetPlatform.operatingSystem.windows)
+                            cCompiler.args "-I${javahome}/include/win32"
+                        else if (targetPlatform.operatingSystem.macOsX)
+                            cCompiler.args "-I${javahome}/include/darwin"
+                        else if (targetPlatform.operatingSystem.linux)
+                            cCompiler.args "-I${javahome}/include/linux"
+                    } else {
+                        cCompiler.args '-I', "${javahome}/include"
+                        if (targetPlatform.operatingSystem.windows)
+                            cCompiler.args '-I', "${javahome}/include/win32"
+                        else if (targetPlatform.operatingSystem.macOsX)
+                            cCompiler.args '-I', "${javahome}/include/darwin"
+                        else if (targetPlatform.operatingSystem.linux)
+                            cCompiler.args '-I', "${javahome}/include/linux"
+                    }
+
                     // cCompiler.args << '-L"' + javahome + '/lib"'
 
                     if (isArm) {

native.gradle

@@ -21,6 +21,10 @@ subprojects {
             }
 
             toolChains {
+                visualCpp(VisualCpp) {
+
+                }
+
                 gcc(Gcc) {
                     target("arm") {
                         cCompiler.executable = compilerPrefix + cCompiler.executable