}                glBegin( GL_QUADS );                glTexCoord2d( tsx, tsy ); glVertex3d( xx1, yy1, z );                glTexCoord2d( tex, tsy ); glVertex3d( xx2, yy2, z );                glTexCoord2d( tex, tey ); glVertex3d( xx3, yy3, z );                glTexCoord2d( tsx, tey ); glVertex3d( xx4, yy4, z );                glEnd();            }        }        glEndList();        flag[mode][win][list] = 0;    }    else {        glCallList( listIndex[mode][win][list]+1 );    }    glBindTexture( GL_TEXTURE_2D, 0 );    glDisable( GL_TEXTURE_2D );    glPixelStorei( GL_UNPACK_ROW_LENGTH, 0 );#ifndef _WIN32    glPixelStorei( GL_UNPACK_IMAGE_HEIGHT, 0 );#endif}void argDispHalfImage( ARUint8 *image, int xwin, int ywin ){    if( argDrawMode == AR_DRAW_BY_GL_DRAW_PIXELS ) {        argDispHalfImageDrawPixels( image, xwin, ywin );    }    else {        if( xwin == 0 && ywin == 0 ) {            glScissor(0, gWinYsize-(int)(gZoom*gImYsize),                      (int)(gZoom*gImXsize), (int)(gZoom*gImYsize));        }        else {            glScissor((xwin-1)*gMiniXsize, gWinYsize-gYsize-ywin*gMiniYsize,                       gMiniXsize, gMiniYsize);        }        glEnable( GL_SCISSOR_TEST );        /* glDisable( GL_DEPTH_TEST ); */        argDispHalfImageTex( image, xwin, ywin, 0 );        glDisable( GL_SCISSOR_TEST );    }}static void argDispHalfImageDrawPixels( ARUint8 *image, int xwin, int ywin ){    int      sx, sy;    GLfloat  zoom;    if( xwin == 0 && ywin == 0 ) {	zoom = gZoom * 2.0;        sx = 0;        sy = gWinYsize - 1;    }    if( xwin == 1 && ywin == 0 ) {	zoom = gZoom * 2.0;        sx = gXsize;        sy = gWinYsize - 1;    }    else {        zoom = gZoom / (double)GMINI * 2.0;        sx = (xwin-1)*gMiniXsize;        sy = gWinYsize - gYsize - (ywin-1)*gMiniYsize - 1;    }    glPixelZoom( zoom, -zoom);    /* glRasterPos3i( sx, sy, 0 ); */    glRasterPos3i( sx, sy, -1 );#ifdef  AR_PIX_FORMAT_ABGR    glDrawPixels( gImXsize/2, gImYsize/2, GL_ABGR, GL_UNSIGNED_BYTE, image );#endif#ifdef  AR_PIX_FORMAT_BGRA    glDrawPixels( gImXsize/2, gImYsize/2, GL_BGRA, GL_UNSIGNED_BYTE, image );#endif#ifdef  AR_PIX_FORMAT_BGR    glDrawPixels( gImXsize/2, gImYsize/2, GL_BGR, GL_UNSIGNED_BYTE, image );#endif#ifdef  AR_PIX_FORMAT_RGBA    glDrawPixels( gImXsize/2, gImYsize/2, GL_RGBA, GL_UNSIGNED_BYTE, image );#endif#ifdef  AR_PIX_FORMAT_RGB    glDrawPixels( gImXsize/2, gImYsize/2, GL_RGB, GL_UNSIGNED_BYTE, image );#endif}#ifndef _WIN32static void argDispHalfImageTex( ARUint8 *image, int xwin, int ywin, int mode )#elsestatic void argDispHalfImageTex( ARUint8 *wimage, int xwin, int ywin, int mode )#endif{    static int      initf = 1;    static int      flag[3][MINIWIN_MAX+2];    static int      listIndex[3][MINIWIN_MAX+2];#ifdef _WIN32    static ARUint8  *image = NULL;#endif    double   *dist_factor = NULL;    double   tsx, tsy, tex, tey;    double   px, py, qx, qy, z;    double   x1, x2, x3, x4;    double   y1, y2, y3, y4;    double   xx1, xx2, xx3, xx4;    double   yy1, yy2, yy3, yy4;    int      win;    int      i, j;    switch( mode ) {      case 0: dist_factor = &(gCparam.dist_factor[0]);   break;    }#ifdef _WIN32    if( image == NULL ) {		arMalloc(image,ARUint8,tex2Xsize*tex2Ysize*AR_PIX_SIZE);    }	memcpy(image, wimage, gImXsize*gImYsize*AR_PIX_SIZE/4);#endif    if( initf ) {        for(j=0;j<3;j++) {            for(i=0;i<=MINIWIN_MAX;i++) flag[j][i] = 1;        }        initf = 0;    }    if( xwin == 0 && ywin == 0 )      win = 0;    else if( xwin == 1 && ywin == 0 ) win = 1;    else win = gMiniXnum * (ywin-1) + xwin + 1;    glEnable( GL_TEXTURE_2D );    glMatrixMode(GL_TEXTURE);    glLoadIdentity();    glMatrixMode(GL_MODELVIEW);    glPixelStorei( GL_UNPACK_ROW_LENGTH, gImXsize/2 );#ifndef _WIN32    glPixelStorei( GL_UNPACK_IMAGE_HEIGHT, gImYsize/2 );#endif    glBindTexture( GL_TEXTURE_2D, glid[2] );#ifdef  AR_PIX_FORMAT_ABGR    glTexImage2D( GL_TEXTURE_2D, 0, 3, tex2Xsize, tex2Ysize, 0, GL_ABGR, GL_UNSIGNED_BYTE, image );#endif#ifdef  AR_PIX_FORMAT_BGRA    glTexImage2D( GL_TEXTURE_2D, 0, 3, tex2Xsize, tex2Ysize, 0, GL_BGRA, GL_UNSIGNED_BYTE, image );#endif#ifdef  AR_PIX_FORMAT_BGR    glTexImage2D( GL_TEXTURE_2D, 0, 3, tex2Xsize, tex2Ysize, 0, GL_BGR, GL_UNSIGNED_BYTE, image );#endif#ifdef  AR_PIX_FORMAT_RGBA    glTexImage2D( GL_TEXTURE_2D, 0, 3, tex2Xsize, tex2Ysize, 0, GL_RGBA, GL_UNSIGNED_BYTE, image );#endif#ifdef  AR_PIX_FORMAT_RGB    glTexImage2D( GL_TEXTURE_2D, 0, 3, tex2Xsize, tex2Ysize, 0, GL_RGB, GL_UNSIGNED_BYTE, image );#endif    if( flag[mode][win] ) {        listIndex[mode][win] = glGenLists(1);        glNewList(listIndex[mode][win], GL_COMPILE_AND_EXECUTE);        z = -1.0;        qy = gImYsize * 0 / 20.0;        tey = ((double)gImYsize / (double)(tex2Ysize*2.0)) * (double)0 / 20.0;        for( j = 1; j <= 20; j++ ) {            py = qy;            tsy = tey;            qy = gImYsize * j / 20.0;            tey = ((double)gImYsize / (double)(tex2Ysize*2.0)) * (double)j / 20.0;            qx = gImXsize * 0 / 20.0;            tex = ((double)gImXsize / (double)(tex2Xsize*2.0)) * (double)0 / 20.0;            for( i = 1; i <= 20; i++ ) {                px = qx;                tsx = tex;                qx = gImXsize * i / 20.0;                tex = ((double)gImXsize / (double)(tex2Xsize*2.0)) * (double)i / 20.0;                arParamObserv2Ideal( dist_factor, px, py, &x1, &y1 );                arParamObserv2Ideal( dist_factor, qx, py, &x2, &y2 );                arParamObserv2Ideal( dist_factor, qx, qy, &x3, &y3 );                arParamObserv2Ideal( dist_factor, px, qy, &x4, &y4 );                if( xwin == 0 && ywin == 0 ) {                    xx1 = x1 * gZoom - 1.0;                    yy1 = (gWinYsize - 1) - y1 * gZoom;                    xx2 = x2 * gZoom - 1.0;                    yy2 = (gWinYsize - 1) - y2 * gZoom;                    xx3 = x3 * gZoom - 1.0;                    yy3 = (gWinYsize - 1) - y3 * gZoom;                    xx4 = x4 * gZoom - 1.0;                    yy4 = (gWinYsize - 1) - y4 * gZoom;                }                else if( xwin == 1 && ywin == 0 ) {                    xx1 = gXsize + x1 * gZoom - 1.0;                    yy1 = (gWinYsize - 1) - y1 * gZoom;                    xx2 = gXsize + x2 * gZoom - 1.0;                    yy2 = (gWinYsize - 1) - y2 * gZoom;                    xx3 = gXsize + x3 * gZoom - 1.0;                    yy3 = (gWinYsize - 1) - y3 * gZoom;                    xx4 = gXsize + x4 * gZoom - 1.0;                    yy4 = (gWinYsize - 1) - y4 * gZoom;                }                else {                    xx1 = (xwin-1)*gMiniXsize + x1*gZoom/(double)GMINI - 1.0;                    xx2 = (xwin-1)*gMiniXsize + x2*gZoom/(double)GMINI - 1.0;                    xx3 = (xwin-1)*gMiniXsize + x3*gZoom/(double)GMINI - 1.0;                    xx4 = (xwin-1)*gMiniXsize + x4*gZoom/(double)GMINI - 1.0;                    yy1 = gWinYsize-gYsize-(ywin-1)*gMiniYsize - y1*gZoom/(double)GMINI - 1.0;                    yy2 = gWinYsize-gYsize-(ywin-1)*gMiniYsize - y2*gZoom/(double)GMINI - 1.0;                    yy3 = gWinYsize-gYsize-(ywin-1)*gMiniYsize - y3*gZoom/(double)GMINI - 1.0;                    yy4 = gWinYsize-gYsize-(ywin-1)*gMiniYsize - y4*gZoom/(double)GMINI - 1.0;                }                glBegin( GL_QUADS );                glTexCoord2d( tsx, tsy ); glVertex3d( xx1, yy1, z );                glTexCoord2d( tex, tsy ); glVertex3d( xx2, yy2, z );                glTexCoord2d( tex, tey ); glVertex3d( xx3, yy3, z );                glTexCoord2d( tsx, tey ); glVertex3d( xx4, yy4, z );                glEnd();            }        }        glEndList();        flag[mode][win] = 0;    }    else {        glCallList( listIndex[mode][win] );    }    glBindTexture( GL_TEXTURE_2D, 0 );    glDisable( GL_TEXTURE_2D );    glPixelStorei( GL_UNPACK_ROW_LENGTH, 0 );#ifndef _WIN32    glPixelStorei( GL_UNPACK_IMAGE_HEIGHT, 0 );#endif}void argDrawSquare( double  vertex[4][2], int xwin, int ywin ){    argLineSeg( vertex[0][0], vertex[0][1],                vertex[1][0], vertex[1][1], xwin, ywin );    argLineSeg( vertex[1][0], vertex[1][1],                vertex[2][0], vertex[2][1], xwin, ywin );    argLineSeg( vertex[2][0], vertex[2][1],                vertex[3][0], vertex[3][1], xwin, ywin );    argLineSeg( vertex[3][0], vertex[3][1],                vertex[0][0], vertex[0][1], xwin, ywin );}void argLineSeg( double x1, double y1, double x2, double y2, int xwin, int ywin ){    float   ox, oy;    double  xx1, yy1, xx2, yy2;    if( argDrawMode == AR_DRAW_BY_TEXTURE_MAPPING ) {        xx1 = x1;  yy1 = y1;        xx2 = x2;  yy2 = y2;    }    else {        arParamIdeal2Observ( gCparam.dist_factor, x1, y1, &xx1, &yy1 );        arParamIdeal2Observ( gCparam.dist_factor, x2, y2, &xx2, &yy2 );    }    xx1 *= gZoom; yy1 *= gZoom;    xx2 *= gZoom; yy2 *= gZoom;    if( xwin == 0 && ywin == 0 ) {        ox = 0;        oy = gWinYsize-1;        glBegin(GL_LINES);          glVertex2f( ox+xx1, oy-yy1 );          glVertex2f( ox+xx2, oy-yy2 );        glEnd();    }    else {        ox = (xwin-1)*gMiniXsize;        oy = gWinYsize - gYsize -(ywin-1)*gMiniYsize - 1;        glBegin(GL_LINES);          glVertex2f( ox+xx1/GMINI, oy-yy1/GMINI );          glVertex2f( ox+xx2/GMINI, oy-yy2/GMINI );        glEnd();    }    glFlush();}void argLineSegHMD( double x1, double y1, double x2, double y2 ){    float   ox, oy;    ox = 0;    oy = gWinYsize - gYsize;    glBegin(GL_LINES);      glVertex2f( ox+x1, oy+y1 );      glVertex2f( ox+x2, oy+y2 );    glEnd();}static void argInitStencil(void){    int     offset;    int     i;    glEnable(GL_STENCIL_TEST);    glClearStencil(0);    glClear(GL_STENCIL_BUFFER_BIT);    glLineWidth(1.0);    offset = gWinYsize - gYsize;#if REVERSE_LR    glStencilFunc(GL_ALWAYS, LEFTEYE, LEFTEYE);    glStencilOp(GL_REPLACE, GL_REPLACE, GL_REPLACE);    glBegin(GL_LINES);    for( i = 0; i < gYsize; i+=2 ) {        glVertex2f( 0.0,       (float)(i+offset) );        glVertex2f( gWinXsize, (float)(i+offset) );    }    glEnd();    glStencilFunc(GL_ALWAYS, RIGHTEYE, RIGHTEYE);    glStencilOp(GL_REPLACE, GL_REPLACE, GL_REPLACE);    glBegin(GL_LINES);    for( i = 1; i < gYsize; i+=2 ) {        glVertex2f( 0.0,       (float)(i+offset) );        glVertex2f( gWinXsize, (float)(i+offset) );    }    glEnd();#else    glStencilFunc(GL_ALWAYS, LEFTEYE, LEFTEYE);    glStencilOp(GL_REPLACE, GL_REPLACE, GL_REPLACE);    glBegin(GL_LINES);    for( i = 1; i < gYsize; i+=2 ) {        glVertex2f( 0.0,       (float)(i+offset) );        glVertex2f( gWinXsize, (float)(i+offset) );    }    glEnd();    glStencilFunc(GL_ALWAYS, RIGHTEYE, RIGHTEYE);    glStencilOp(GL_REPLACE, GL_REPLACE, GL_REPLACE);    glBegin(GL_LINES);    for( i = 0; i < gYsize; i+=2 ) {        glVertex2f( 0.0,       (float)(i+offset) );        glVertex2f( gWinXsize, (float)(i+offset) );    }    glEnd();#endif    glStencilFunc (GL_ALWAYS, 0, 0);    glStencilOp (GL_KEEP, GL_KEEP, GL_KEEP);    glDisable(GL_STENCIL_TEST);}void argLoadHMDparam( ARParam *lparam, ARParam *rparam ){    argConvGLcpara( lparam, AR_GL_CLIP_NEAR, AR_GL_CLIP_FAR, gl_lpara );    argConvGLcpara( rparam, AR_GL_CLIP_NEAR, AR_GL_CLIP_FAR, gl_rpara );    gl_hmd_para_flag = 1;}static void argSetStencil( int flag ){    if( flag == 0 ) {        glDisable(GL_STENCIL_TEST);        glStencilFunc (GL_ALWAYS, 0, 0);        glStencilOp (GL_KEEP, GL_KEEP, GL_KEEP);    }    else {        glEnable(GL_STENCIL_TEST);        glStencilFunc (GL_EQUAL, flag, flag);        glStencilOp (GL_KEEP, GL_KEEP, GL_KEEP);    }}void argConvGLcpara( ARParam *param, double gnear, double gfar, double m[16] ){    argConvGLcpara2( param->mat, param->xsize, param->ysize, gnear, gfar, m );}static void argConvGLcpara2( double cparam[3][4], int width, int height, double gnear, double gfar, double m[16] ){    double   icpara[3][4];    double   trans[3][4];    double   p[3][3], q[4][4];    int      i, j;    if( arParamDecompMat(cparam, icpara, trans) < 0 ) {        printf("gConvGLcpara: Parameter error!!\n");        exit(0);    }    for( i = 0; i < 3; i++ ) {        for( j = 0; j < 3; j++ ) {            p[i][j] = icpara[i][j] / icpara[2][2];        }    }    q[0][0] = (2.0 * p[0][0] / width);    q[0][1] = (2.0 * p[0][1] / width);    q[0][2] = ((2.0 * p[0][2] / width)  - 1.0);    q[0][3] = 0.0;    q[1][0] = 0.0;    q[1][1] = (2.0 * p[1][1] / height);    q[1][2] = ((2.0 * p[1][2] / height) - 1.0);    q[1][3] = 0.0;    q[2][0] = 0.0;    q[2][1] = 0.0;    q[2][2] = (gfar + gnear)/(gfar - gnear);    q[2][3] = -2.0 * gfar * gnear / (gfar - gnear);    q[3][0] = 0.0;    q[3][1] = 0.0;    q[3][2] = 1.0;    q[3][3] = 0.0;    for( i = 0; i < 4; i++ ) {        for( j = 0; j < 3; j++ ) {            m[i+j*4] = q[i][0] * trans[0][j]                     + q[i][1] * trans[1][j]                     + q[i][2] * trans[2][j];        }        m[i+3*4] = q[i][0] * trans[0][3]                 + q[i][1] * trans[1][3]                 + q[i][2] * trans[2][3]                 + q[i][3];    }}