first commit

.clang-format

@@ -0,0 +1,125 @@
+---
+Language:        Cpp
+# BasedOnStyle:  Chromium
+AccessModifierOffset: -1
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Left
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: Inline
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: true
+BinPackParameters: false
+BraceWrapping:
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  AfterExternBlock: false
+  BeforeCatch:     false
+  BeforeElse:      false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     80
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks:   Preserve
+IncludeCategories:
+  - Regex:           '^<ext/.*\.h>'
+    Priority:        2
+  - Regex:           '^<.*\.h>'
+    Priority:        1
+  - Regex:           '^<.*'
+    Priority:        2
+  - Regex:           '.*'
+    Priority:        3
+IncludeIsMainRegex: '([-_](test|unittest))?$'
+IndentCaseLabels: true
+IndentPPDirectives: None
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Never
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+RawStringFormats:
+  - Language:        TextProto
+    Delimiters:
+      - pb
+      - PB
+      - proto
+      - PROTO
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+ReflowComments:  true
+SortIncludes:    true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles:  false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard:        Auto
+TabWidth:        8
+UseTab:          Never
+...

.github/ISSUE_TEMPLATE.md

@@ -0,0 +1,19 @@
+## Steps to reproduce
+
+  1. _____
+  2. _____
+  3. _____
+
+## Observed Results
+
+  * What happened?  This could be a description, log output, etc.
+
+## Expected Results
+
+  * What did you expect to happen?
+
+## Relevant Code
+
+```
+// TODO(you): code here to reproduce the problem
+```

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,29 @@
+## Motivation and Context
+
+<!--- Why is this change required? What problem does it solve? -->
+<!--- Please link to an existing issue here if one exists. -->
+<!--- (we recommend to have an existing issue for each pull request) -->
+
+## How Has This Been Tested
+
+<!--- Please describe here how your modifications have been tested. -->
+
+## Types of changes
+
+<!--- What types of changes does your code introduce? Put an `x` in all the boxes that apply: -->
+- [ ] Docs change / refactoring / dependency upgrade
+- [ ] Bug fix (non-breaking change which fixes an issue)
+- [ ] New feature (non-breaking change which adds functionality)
+- [ ] Breaking change (fix or feature that would cause existing functionality to change)
+
+## Checklist
+
+<!--- Go over all the following points, and put an `x` in all the boxes that apply. -->
+<!--- If you're unsure about any of these, don't hesitate to ask. We're here to help! -->
+- [ ] My code follows the code style of this project.
+- [ ] My change requires a change to the documentation.
+- [ ] I have updated the documentation accordingly.
+- [ ] I have read the **CONTRIBUTING** document.
+- [ ] I have completed my CLA (see **CONTRIBUTING**)
+- [ ] I have added tests to cover my changes.
+- [ ] All new and existing tests passed.

.gitignore

@@ -0,0 +1,164 @@
+## c++
+
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+## python
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+
+# vscode
+.vscode/
+
+.DS_Store
+
+/test.*
+/test_semantic.glb
+/test_semantic.ply
+
+compile_commands.json
+.vimtags
+.ycm*
+
+.autoenv*
+
+build_with_utils.sh
+run_example
+.lvimrc
+.ccls-cache/
+
+# Vim swap files
+*.swp

.gitmodules

@@ -0,0 +1,39 @@
+[submodule "src/deps/googletest"]
+	path = src/deps/googletest
+	url = https://github.com/google/googletest
+[submodule "src/deps/tinyobjloader"]
+	path = src/deps/tinyobjloader
+	url = https://github.com/syoyo/tinyobjloader.git
+[submodule "src/deps/rapidjson"]
+	path = src/deps/rapidjson
+	url = https://github.com/Tencent/rapidjson.git
+[submodule "src/deps/magnum"]
+	path = src/deps/magnum
+	url = https://github.com/mosra/magnum.git
+[submodule "src/deps/corrade"]
+	path = src/deps/corrade
+	url = https://github.com/mosra/corrade.git
+[submodule "src/deps/magnum-plugins"]
+	path = src/deps/magnum-plugins
+	url = https://github.com/mosra/magnum-plugins.git
+[submodule "src/deps/glog"]
+	path = src/deps/glog
+	url = https://github.com/google/glog.git
+[submodule "src/deps/pybind11"]
+	path = src/deps/pybind11
+	url = https://github.com/pybind/pybind11.git
+[submodule "src/deps/eigen-git-mirror"]
+	path = src/deps/eigen-git-mirror
+	url = https://github.com/eigenteam/eigen-git-mirror
+[submodule "src/deps/assimp"]
+	path = src/deps/assimp
+	url = https://github.com/assimp/assimp
+[submodule "src/deps/glfw"]
+	path = src/deps/glfw
+	url = https://github.com/glfw/glfw
+[submodule "src/deps/Sophus"]
+	path = src/deps/Sophus
+	url = https://github.com/strasdat/Sophus
+[submodule "src/deps/recastnavigation"]
+	path = src/deps/recastnavigation
+	url = https://github.com/erikwijmans/recastnavigation.git