Add support for using a SpaceMouse to pan & zoom in the schematic editor.

3d-viewer/3d_navlib/nl_3d_viewer_plugin_impl.cpp

@@ -44,35 +44,6 @@
  */
 const wxChar* NL_3D_VIEWER_PLUGIN_IMPL::m_logTrace = wxT( "KI_TRACE_NL_3D_VIEWER_PLUGIN" );
 
-/**
- * Template to compare two floating point values for equality within a required epsilon.
- *
- * @param aFirst value to compare.
- * @param aSecond value to compare.
- * @param aEpsilon allowed error.
- * @return true if the values considered equal within the specified epsilon, otherwise false.
- */
-template <class T>
-bool equals( T aFirst, T aSecond, T aEpsilon = static_cast<T>( FLT_EPSILON ) )
-{
-    T diff = fabs( aFirst - aSecond );
-
-    if( diff < aEpsilon )
-    {
-        return true;
-    }
-
-    aFirst = fabs( aFirst );
-    aSecond = fabs( aSecond );
-    T largest = aFirst > aSecond ? aFirst : aSecond;
-
-    if( diff <= largest * aEpsilon )
-    {
-        return true;
-    }
-
-    return false;
-}
 
 /**
  * Template to compare two glm::mat<T> values for equality within a required epsilon.
@@ -245,13 +216,13 @@ void NL_3D_VIEWER_PLUGIN_IMPL::exportCommandsAndImages()
                                                    streamBuffer->GetBufferSize() ),
                                       0 );
 
-                wxLogTrace( m_logTrace, "Adding image for : %s", name );
+                wxLogTrace( m_logTrace, wxT( "Adding image for : %s" ), name );
                 vImages.push_back( std::move( tdxImage ) );
             }
         }
 
-        wxLogTrace( m_logTrace, "Inserting command: %s,  description: %s,  in category:  %s", name,
+        wxLogTrace( m_logTrace, wxT( "Inserting command: %s,  description: %s,  in category:  %s" ),
-                    description, iter->first );
+                    name, description, iter->first );
 
         iter->second->push_back(
                 CCommand( std::move( name ), std::move( label ), std::move( description ) ) );
@@ -681,7 +652,7 @@ long NL_3D_VIEWER_PLUGIN_IMPL::GetFrontView( navlib::matrix_t& matrix ) const
 long NL_3D_VIEWER_PLUGIN_IMPL::GetCoordinateSystem( navlib::matrix_t& matrix ) const
 {
     // Use the right-handed coordinate system X-right, Z-up, Y-in (row vectors)
-    matrix = { 1, 0, 0, 0, 0, 0, 1, 0, 0, -1, 0, 0, 0, 0, 0, 1 };
+    matrix = { 1, 0, 0, 0, 0, 0, -1, 0, 0, 1, 0, 0, 0, 0, 0, 1 };
     return 0;
 }
 

3d-viewer/3d_viewer/eda_3d_viewer_frame.cpp

@@ -255,6 +255,19 @@ void EDA_3D_VIEWER_FRAME::setupUIConditions()
 }
 
 
+void EDA_3D_VIEWER_FRAME::handleIconizeEvent( wxIconizeEvent& aEvent )
+{
+    KIWAY_PLAYER::handleIconizeEvent( aEvent );
+
+#if defined( KICAD_USE_3DCONNEXION )
+    if( m_spaceMouse != nullptr && aEvent.IsIconized() )
+    {
+        m_spaceMouse->SetFocus( false );
+    }
+#endif
+}
+
+
 void EDA_3D_VIEWER_FRAME::ReloadRequest()
 {
     // This will schedule a request to load later

3d-viewer/3d_viewer/eda_3d_viewer_frame.h

@@ -120,6 +120,8 @@ public:
 protected:
     void setupUIConditions() override;
 
+    void handleIconizeEvent( wxIconizeEvent& aEvent ) override;
+
 private:
     /// Called when user press the File->Exit
     void Exit3DFrame( wxCommandEvent& event );

LICENSE.APACHE-2.0

@@ -0,0 +1,202 @@
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LICENSE.README

@@ -8,6 +8,8 @@ KiCad EDA suite by the KiCad project or any third party, e.g. Linux distributor.
 
 You are free to use the *sources* under the terms of their respective licenses.
 
+Licensed under Apache License, Version 2.0
+ - portions of code in libs/kimath/include/math/util.h
 Licensed under BOOSTv1:
 - libcontext [https://github.com/boostorg/context] in thirdparty/libcontext
 - clipper in thirdparty/clipper

common/eda_base_frame.cpp

@@ -107,6 +107,7 @@ BEGIN_EVENT_TABLE( EDA_BASE_FRAME, wxFrame )
     EVT_MAXIMIZE( EDA_BASE_FRAME::OnMaximize )
 
     EVT_SYS_COLOUR_CHANGED( EDA_BASE_FRAME::onSystemColorChange )
+    EVT_ICONIZE( EDA_BASE_FRAME::onIconize )
 END_EVENT_TABLE()
 
 
@@ -1325,6 +1326,16 @@ void EDA_BASE_FRAME::onSystemColorChange( wxSysColourChangedEvent& aEvent )
 }
 
 
+void EDA_BASE_FRAME::onIconize( wxIconizeEvent& aEvent )
+{
+    // Call the handler
+    handleIconizeEvent( aEvent );
+
+    // Skip the event.
+    aEvent.Skip();
+}
+
+
 #ifdef _WIN32
 WXLRESULT EDA_BASE_FRAME::MSWWindowProc( WXUINT message, WXWPARAM wParam, WXLPARAM lParam )
 {

eeschema/CMakeLists.txt

@@ -435,6 +435,13 @@ if( KICAD_SPICE )
         )
 endif()
 
+if( KICAD_USE_3DCONNEXION )
+    message( STATUS "Including 3Dconnexion SpaceMouse navigation support in eeschema" )
+    add_subdirectory( ./navlib )
+    target_link_libraries( eeschema_kiface PRIVATE eeschema_navlib)
+endif()
+
+
 set_target_properties( eeschema_kiface PROPERTIES
     # Decorate OUTPUT_NAME with PREFIX and SUFFIX, creating something like
     # _eeschema.so, _eeschema.dll, or _eeschema.kiface

eeschema/navlib/CMakeLists.txt

@@ -0,0 +1,30 @@
+if( KICAD_USE_3DCONNEXION )
+    add_library(eeschema_navlib STATIC
+	    "nl_schematic_plugin.cpp"
+	    "nl_schematic_plugin_impl.cpp"
+    )
+
+    # eeschema_navlib depends on make_lexer outputs in common
+    add_dependencies( eeschema_navlib common )
+
+    # Find the 3DxWare SDK component 3DxWare::NlClient
+    # find_package(TDxWare_SDK 4.0 REQUIRED COMPONENTS 3DxWare::Navlib)
+    target_compile_definitions(eeschema_navlib PRIVATE
+        $<TARGET_PROPERTY:3DxWare::Navlib,INTERFACE_COMPILE_DEFINITIONS>
+    )
+    target_compile_options(eeschema_navlib PRIVATE
+        $<TARGET_PROPERTY:3DxWare::Navlib,INTERFACE_COMPILE_OPTIONS>
+    )
+    target_include_directories(eeschema_navlib PRIVATE
+        $<TARGET_PROPERTY:3DxWare::Navlib,INTERFACE_INCLUDE_DIRECTORIES>
+        $<TARGET_PROPERTY:eeschema_kiface_objects,INCLUDE_DIRECTORIES>
+    )
+    target_link_libraries(eeschema_navlib
+        $<TARGET_PROPERTY:3DxWare::Navlib,INTERFACE_LINK_LIBRARIES>
+        3DxWare::Navlib
+    )
+else()
+    add_library(eeschema_navlib STATIC
+	    "nl_schematic_plugin.cpp"
+    )
+endif(KICAD_USE_3DCONNEXION)

eeschema/navlib/nl_schematic_plugin.cpp

@@ -0,0 +1,69 @@
+/*
+ * This program source code file is part of KiCad, a free EDA CAD application.
+ *
+ * Copyright (C) 2022 3Dconnexion
+ * Copyright (C) 2022 KiCad Developers, see AUTHORS.txt for contributors.
+ *
+ * This program is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This program 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
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "nl_schematic_plugin.h"
+#if defined( KICAD_USE_3DCONNEXION )
+
+#include "nl_schematic_plugin_impl.h"
+
+
+NL_SCHEMATIC_PLUGIN::NL_SCHEMATIC_PLUGIN() : m_impl( new NL_SCHEMATIC_PLUGIN_IMPL() )
+{
+}
+
+
+NL_SCHEMATIC_PLUGIN::~NL_SCHEMATIC_PLUGIN()
+{
+    delete m_impl;
+}
+
+
+void NL_SCHEMATIC_PLUGIN::SetFocus( bool focus )
+{
+    m_impl->SetFocus( focus );
+}
+
+
+void NL_SCHEMATIC_PLUGIN::SetCanvas( EDA_DRAW_PANEL_GAL* aViewport )
+{
+    m_impl->SetCanvas( aViewport );
+}
+#else
+
+
+NL_SCHEMATIC_PLUGIN::NL_SCHEMATIC_PLUGIN( EDA_DRAW_PANEL_GAL* aViewport )
+{
+}
+
+
+void NL_SCHEMATIC_PLUGIN::SetFocus( bool focus )
+{
+}
+
+
+void NL_SCHEMATIC_PLUGIN::SetCanvas( EDA_DRAW_PANEL_GAL* aViewport )
+{
+}
+
+
+NL_SCHEMATIC_PLUGIN::~NL_SCHEMATIC_PLUGIN()
+{
+}
+#endif

eeschema/navlib/nl_schematic_plugin.h

@@ -0,0 +1,67 @@
+/*
+ * This program source code file is part of KiCad, a free EDA CAD application.
+ *
+ * Copyright (C) 2022 3Dconnexion
+ * Copyright (C) 2022 KiCad Developers, see AUTHORS.txt for contributors.
+ *
+ * This program is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This program 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
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file  nl_schematic_plugin.h
+ * @brief Declaration of the NL_SCHEMATIC_PLUGIN class
+ */
+
+#ifndef NL_SCHEMATIC_PLUGIN_H_
+#define NL_SCHEMATIC_PLUGIN_H_
+
+// Forward declarations.
+class EDA_DRAW_PANEL_GAL;
+class NL_SCHEMATIC_PLUGIN_IMPL;
+
+/**
+ * The class that implements the public interface to the SpaceMouse plug-in.
+ */
+class NL_SCHEMATIC_PLUGIN
+{
+public:
+    /**
+     * Initializes a new instance of the NL_SCHEMATIC_PLUGIN.
+     */
+    NL_SCHEMATIC_PLUGIN();
+
+    virtual ~NL_SCHEMATIC_PLUGIN();
+
+
+    /**
+     * Sets the viewport controlled by the SpaceMouse.
+     *
+     *  @param aViewport is the viewport to be navigated.
+     */
+    void SetCanvas( EDA_DRAW_PANEL_GAL* aViewport );
+
+
+    /**
+     * Set the connection to the 3Dconnexion driver to the focus state so that
+     * 3DMouse data is routed to this connexion.
+     *
+     * @param aFocus is true to set the connexion active.
+     */
+    void SetFocus( bool aFocus );
+
+private:
+    NL_SCHEMATIC_PLUGIN_IMPL* m_impl;
+};
+
+#endif // NL_SCHEMATIC_PLUGIN_H_

eeschema/navlib/nl_schematic_plugin_impl.cpp

@@ -0,0 +1,608 @@
+/*
+ * This program source code file is part of KiCad, a free EDA CAD application.
+ *
+ * Copyright (C) 2022 3Dconnexion
+ * Copyright (C) 2022 KiCad Developers, see AUTHORS.txt for contributors.
+ *
+ * This program is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This program 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
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "nl_schematic_plugin_impl.h"
+
+// KiCAD includes
+#include <sch_base_frame.h>
+#include <bitmaps.h>
+#include <class_draw_panel_gal.h>
+#include <view/view.h>
+#include <view/wx_view_controls.h>
+#include <tool/action_manager.h>
+#include <tool/tool_action.h>
+#include <tool/tool_manager.h>
+
+// stdlib
+#include <list>
+#include <map>
+#include <memory>
+#include <utility>
+#include <vector>
+#include <cfloat>
+
+#include <wx/log.h>
+#include <wx/mstream.h>
+
+
+/**
+ * Flag to enable the NL_SCHEMATIC_PLUGIN debug tracing.
+ *
+ * Use "KI_TRACE_NL_SCHEMATIC_PLUGIN" to enable.
+ *
+ * @ingroup trace_env_vars
+ */
+const wxChar* NL_SCHEMATIC_PLUGIN_IMPL::m_logTrace = wxT( "KI_TRACE_NL_SCHEMATIC_PLUGIN" );
+
+
+NL_SCHEMATIC_PLUGIN_IMPL::NL_SCHEMATIC_PLUGIN_IMPL() :
+        CNavigation3D( false, false ), m_viewport2D( nullptr ), m_isMoving( false )
+{
+    PutProfileHint( "KiCAD Eeschema" );
+}
+
+
+NL_SCHEMATIC_PLUGIN_IMPL::~NL_SCHEMATIC_PLUGIN_IMPL()
+{
+    EnableNavigation( false );
+}
+
+
+void NL_SCHEMATIC_PLUGIN_IMPL::SetCanvas( EDA_DRAW_PANEL_GAL* aViewport )
+{
+    bool init = m_viewport2D == nullptr;
+
+    m_viewport2D = aViewport;
+
+    if( m_viewport2D != nullptr )
+    {
+        m_view = static_cast<KIGFX::SCH_VIEW*>( m_viewport2D->GetView() );
+        m_viewportWidth = m_view->GetBoundary().GetWidth();
+
+        if( init )
+        {
+            // Use the default settings for the connexion to the 3DMouse navigation
+            // They are use a single-threaded threading model and row vectors.
+            EnableNavigation( true );
+
+            // Use the SpaceMouse internal timing source for the frame rate.
+            PutFrameTimingSource( TimingSource::SpaceMouse );
+
+            exportCommandsAndImages();
+        }
+    }
+}
+
+
+void NL_SCHEMATIC_PLUGIN_IMPL::SetFocus( bool aFocus )
+{
+    wxLogTrace( m_logTrace, wxT( "NL_SCHEMATIC_PLUGIN_IMPL::SetFocus %d" ), aFocus );
+    NAV_3D::Write( navlib::focus_k, aFocus );
+}
+
+// temporary store for the command categories
+typedef std::map<std::string, TDx::CCommandTreeNode*> CATEGORY_STORE;
+
+
+/**
+ * Add a category to the store.
+ *
+ * The function adds category paths of the format "A.B" where B is a sub-category of A.
+ *
+ * @param aCategoryPath is the std::string representation of the category.
+ * @param aCategoryStore is the CATEGORY_STORE instance to add to.
+ * @return a CATEGORY_STORE::iterator where the category was added.
+ */
+static CATEGORY_STORE::iterator add_category( std::string     aCategoryPath,
+                                              CATEGORY_STORE& aCategoryStore )
+{
+    using TDx::SpaceMouse::CCategory;
+
+    CATEGORY_STORE::iterator parent_iter = aCategoryStore.begin();
+    std::string::size_type   pos = aCategoryPath.find_last_of( '.' );
+
+    if( pos != std::string::npos )
+    {
+        std::string parentPath = aCategoryPath.substr( 0, pos );
+        parent_iter = aCategoryStore.find( parentPath );
+
+        if( parent_iter == aCategoryStore.end() )
+        {
+            parent_iter = add_category( parentPath, aCategoryStore );
+        }
+    }
+
+    std::string                name = aCategoryPath.substr( pos + 1 );
+    std::unique_ptr<CCategory> categoryNode =
+            std::make_unique<CCategory>( aCategoryPath.c_str(), name.c_str() );
+
+    CATEGORY_STORE::iterator iter = aCategoryStore.insert(
+            aCategoryStore.end(), CATEGORY_STORE::value_type( aCategoryPath, categoryNode.get() ) );
+
+    parent_iter->second->push_back( std::move( categoryNode ) );
+    return iter;
+}
+
+
+void NL_SCHEMATIC_PLUGIN_IMPL::exportCommandsAndImages()
+{
+    wxLogTrace( m_logTrace, wxT( "NL_SCHEMATIC_PLUGIN_IMPL::exportCommandsAndImages" ) );
+
+    std::list<TOOL_ACTION*> actions = ACTION_MANAGER::GetActionList();
+
+    if( actions.size() == 0 )
+    {
+        return;
+    }
+
+    using TDx::SpaceMouse::CCommand;
+    using TDx::SpaceMouse::CCommandSet;
+
+    // The root action set node
+    CCommandSet commandSet( "SCHEMATIC_EDITOR", "Schematic Editor" );
+
+    // Activate the command set
+    NAV_3D::PutActiveCommands( commandSet.GetId() );
+
+    // temporary store for the categories
+    CATEGORY_STORE categoryStore;
+
+    std::vector<TDx::CImage> vImages;
+
+    // add the action set to the category_store
+    categoryStore.insert( categoryStore.end(), CATEGORY_STORE::value_type( ".", &commandSet ) );
+
+    std::list<TOOL_ACTION*>::const_iterator it;
+
+    for( it = actions.begin(); it != actions.end(); ++it )
+    {
+        const TOOL_ACTION* action = *it;
+        std::string        label = action->GetLabel().ToStdString();
+
+        if( label.empty() )
+        {
+            continue;
+        }
+
+        std::string name = action->GetName();
+
+        // Do no export commands for the 3DViewer app.
+
+        if( name.rfind( "3DViewer.", 0 ) == 0 )
+        {
+            continue;
+        }
+
+        std::string              strCategory = action->GetToolName();
+        CATEGORY_STORE::iterator iter = categoryStore.find( strCategory );
+
+        if( iter == categoryStore.end() )
+        {
+            iter = add_category( std::move( strCategory ), categoryStore );
+        }
+
+        std::string description = action->GetDescription().ToStdString();
+
+        // Arbitrary 8-bit data stream
+        wxMemoryOutputStream imageStream;
+
+        if( action->GetIcon() != BITMAPS::INVALID_BITMAP )
+        {
+            wxImage image = KiBitmap( action->GetIcon() ).ConvertToImage();
+            image.SaveFile( imageStream, wxBitmapType::wxBITMAP_TYPE_PNG );
+            image.Destroy();
+
+            if( imageStream.GetSize() )
+            {
+                wxStreamBuffer* streamBuffer = imageStream.GetOutputStreamBuffer();
+                TDx::CImage     tdxImage = TDx::CImage::FromData( "", 0, name.c_str() );
+                tdxImage.AssignImage( std::string( reinterpret_cast<const char*>(
+                                                           streamBuffer->GetBufferStart() ),
+                                                   streamBuffer->GetBufferSize() ),
+                                      0 );
+
+                wxLogTrace( m_logTrace, wxT( "Adding image for : %s" ), name );
+                vImages.push_back( std::move( tdxImage ) );
+            }
+        }
+
+        wxLogTrace( m_logTrace, wxT( "Inserting command: %s,  description: %s,  in category:  %s" ),
+                    name, description, iter->first );
+
+        iter->second->push_back(
+                CCommand( std::move( name ), std::move( label ), std::move( description ) ) );
+    }
+
+    NAV_3D::AddCommandSet( commandSet );
+    NAV_3D::AddImages( vImages );
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::GetCameraMatrix( navlib::matrix_t& matrix ) const
+{
+    if( m_view == nullptr )
+    {
+        return navlib::make_result_code( navlib::navlib_errc::no_data_available );
+    }
+
+    m_viewPosition = m_view->GetCenter();
+
+    double x = m_view->IsMirroredX() ? -1 : 1;
+    double y = m_view->IsMirroredY() ? 1 : -1;
+
+    // x * y * z = 1 for a right-handed coordinate system.
+    double z = x * y;
+
+    // Note: the connexion has been configured as row vectors, the coordinate system is defined in
+    // NL_SCHEMATIC_PLUGIN_IMPL::GetCoordinateSystem and the front view in NL_SCHEMATIC_PLUGIN_IMPL::GetFrontView.
+    matrix = { x, 0, 0, 0, 0, y, 0, 0, 0, 0, z, 0, m_viewPosition.x, m_viewPosition.y, 0, 1 };
+    return 0;
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::GetPointerPosition( navlib::point_t& position ) const
+{
+    if( m_view == nullptr )
+    {
+        return navlib::make_result_code( navlib::navlib_errc::no_data_available );
+    }
+
+    VECTOR2D mouse_pointer = m_viewport2D->GetViewControls()->GetMousePosition();
+
+    position.x = mouse_pointer.x;
+    position.y = mouse_pointer.y;
+    position.z = 0;
+
+    return 0;
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::GetViewExtents( navlib::box_t& extents ) const
+{
+    if( m_view == nullptr )
+    {
+        return navlib::make_result_code( navlib::navlib_errc::no_data_available );
+    }
+
+    double scale = m_viewport2D->GetGAL()->GetWorldScale();
+    BOX2D  box = m_view->GetViewport();
+
+    m_viewportWidth = box.GetWidth();
+
+    extents = navlib::box_t{ -box.GetWidth() / 2.0,
+                             -box.GetHeight() / 2.0,
+                             m_viewport2D->GetGAL()->GetMinDepth() / scale,
+                             box.GetWidth() / 2.0,
+                             box.GetHeight() / 2.0,
+                             m_viewport2D->GetGAL()->GetMaxDepth() / scale };
+    return 0;
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::GetIsViewPerspective( navlib::bool_t& perspective ) const
+{
+    perspective = false;
+
+    return 0;
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::SetCameraMatrix( const navlib::matrix_t& matrix )
+{
+    if( m_view == nullptr )
+    {
+        return navlib::make_result_code( navlib::navlib_errc::invalid_operation );
+    }
+
+    long     result = 0;
+    VECTOR2D viewPos( matrix.m4x4[3][0], matrix.m4x4[3][1] );
+
+    if( !equals( m_view->GetCenter(), m_viewPosition,
+                 static_cast<VECTOR2D::coord_type>( FLT_EPSILON ) ) )
+    {
+        m_view->SetCenter( viewPos + m_view->GetCenter() - m_viewPosition );
+        result = navlib::make_result_code( navlib::navlib_errc::error );
+    }
+    else
+    {
+        m_view->SetCenter( viewPos );
+    }
+
+    m_viewPosition = viewPos;
+
+    return result;
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::SetViewExtents( const navlib::box_t& extents )
+{
+    if( m_view == nullptr )
+    {
+        return navlib::make_result_code( navlib::navlib_errc::invalid_operation );
+    }
+
+    long result = 0;
+
+    if( m_viewportWidth != m_view->GetViewport().GetWidth() )
+    {
+        result = navlib::make_result_code( navlib::navlib_errc::error );
+    }
+
+    double width = m_viewportWidth;
+    m_viewportWidth = extents.max_x - extents.min_x;
+
+    double scale = width / m_viewportWidth * m_view->GetScale();
+    m_view->SetScale( scale, m_view->GetCenter() );
+
+    if( !equals( m_view->GetScale(), scale, static_cast<double>( FLT_EPSILON ) ) )
+    {
+        result = navlib::make_result_code( navlib::navlib_errc::error );
+    }
+
+    return result;
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::SetViewFOV( double fov )
+{
+    return navlib::make_result_code( navlib::navlib_errc::invalid_operation );
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::SetViewFrustum( const navlib::frustum_t& frustum )
+{
+    return navlib::make_result_code( navlib::navlib_errc::invalid_operation );
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::GetModelExtents( navlib::box_t& extents ) const
+{
+    if( m_view == nullptr )
+    {
+        return navlib::make_result_code( navlib::navlib_errc::no_data_available );
+    }
+
+    BOX2I box = static_cast<SCH_BASE_FRAME*>( m_viewport2D->GetParent() )->GetDocumentExtents();
+    box.Normalize();
+
+    double half_depth = 0.1 / m_viewport2D->GetGAL()->GetWorldScale();
+
+    if( box.GetWidth() == 0 && box.GetHeight() == 0 )
+    {
+        half_depth = 0;
+    }
+
+    extents = { static_cast<double>( box.GetOrigin().x ),
+                static_cast<double>( box.GetOrigin().y ),
+                -half_depth,
+                static_cast<double>( box.GetEnd().x ),
+                static_cast<double>( box.GetEnd().y ),
+                half_depth };
+
+    return 0;
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::GetCoordinateSystem( navlib::matrix_t& matrix ) const
+{
+    // The coordinate system is defined as x to the right, y down and z into the screen.
+    matrix = { 1, 0, 0, 0, 0, -1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1 };
+    return 0;
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::GetFrontView( navlib::matrix_t& matrix ) const
+{
+    matrix = { 1, 0, 0, 0, 0, -1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1 };
+    return 0;
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::GetIsSelectionEmpty( navlib::bool_t& empty ) const
+{
+    empty = true;
+    return 0;
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::GetIsViewRotatable( navlib::bool_t& isRotatable ) const
+{
+    isRotatable = false;
+    return 0;
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::SetActiveCommand( std::string commandId )
+{
+    if( commandId.empty() )
+    {
+        return 0;
+    }
+
+    std::list<TOOL_ACTION*> actions = ACTION_MANAGER::GetActionList();
+    TOOL_ACTION*            context = nullptr;
+
+    for( std::list<TOOL_ACTION*>::const_iterator it = actions.begin(); it != actions.end(); it++ )
+    {
+        TOOL_ACTION* action = *it;
+        std::string  nm = action->GetName();
+
+        if( commandId == nm )
+        {
+            context = action;
+        }
+    }
+
+    if( context != nullptr )
+    {
+        wxWindow* parent = m_viewport2D->GetParent();
+
+        // Only allow command execution if the window is enabled. i.e. there is not a modal dialog
+        // currently active.
+
+        if( parent->IsEnabled() )
+        {
+            TOOL_MANAGER* tool_manager = static_cast<SCH_BASE_FRAME*>( parent )->GetToolManager();
+
+            // Get the selection to use to test if the action is enabled
+            SELECTION& sel = tool_manager->GetToolHolder()->GetCurrentSelection();
+
+            bool runAction = true;
+
+            if( const ACTION_CONDITIONS* aCond =
+                        tool_manager->GetActionManager()->GetCondition( *context ) )
+            {
+                runAction = aCond->enableCondition( sel );
+            }
+
+            if( runAction )
+            {
+                tool_manager->RunAction( *context, true );
+            }
+        }
+        else
+        {
+            return navlib::make_result_code( navlib::navlib_errc::invalid_operation );
+        }
+    }
+
+    return 0;
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::SetSettingsChanged( long change )
+{
+    return 0;
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::SetMotionFlag( bool value )
+{
+    m_isMoving = value;
+
+    return 0;
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::SetTransaction( long value )
+{
+    if( value == 0L )
+    {
+        m_viewport2D->ForceRefresh();
+    }
+
+    return 0;
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::GetViewFOV( double& fov ) const
+{
+    return navlib::make_result_code( navlib::navlib_errc::invalid_operation );
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::GetViewFrustum( navlib::frustum_t& frustum ) const
+{
+    return navlib::make_result_code( navlib::navlib_errc::invalid_operation );
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::GetSelectionExtents( navlib::box_t& extents ) const
+{
+    return navlib::make_result_code( navlib::navlib_errc::no_data_available );
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::GetSelectionTransform( navlib::matrix_t& transform ) const
+{
+    return navlib::make_result_code( navlib::navlib_errc::no_data_available );
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::SetSelectionTransform( const navlib::matrix_t& matrix )
+{
+    return navlib::make_result_code( navlib::navlib_errc::invalid_operation );
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::GetPivotPosition( navlib::point_t& position ) const
+{
+    return navlib::make_result_code( navlib::navlib_errc::invalid_operation );
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::IsUserPivot( navlib::bool_t& userPivot ) const
+{
+    return navlib::make_result_code( navlib::navlib_errc::invalid_operation );
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::SetPivotPosition( const navlib::point_t& position )
+{
+    return navlib::make_result_code( navlib::navlib_errc::invalid_operation );
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::GetPivotVisible( navlib::bool_t& visible ) const
+{
+    return navlib::make_result_code( navlib::navlib_errc::invalid_operation );
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::SetPivotVisible( bool visible )
+{
+    return navlib::make_result_code( navlib::navlib_errc::invalid_operation );
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::GetHitLookAt( navlib::point_t& position ) const
+{
+    return navlib::make_result_code( navlib::navlib_errc::no_data_available );
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::SetHitAperture( double aperture )
+{
+    return navlib::make_result_code( navlib::navlib_errc::invalid_operation );
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::SetHitDirection( const navlib::vector_t& direction )
+{
+    return navlib::make_result_code( navlib::navlib_errc::invalid_operation );
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::SetHitLookFrom( const navlib::point_t& eye )
+{
+    return navlib::make_result_code( navlib::navlib_errc::invalid_operation );
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::SetHitSelectionOnly( bool onlySelection )
+{
+    return navlib::make_result_code( navlib::navlib_errc::invalid_operation );
+}
+
+
+long NL_SCHEMATIC_PLUGIN_IMPL::SetCameraTarget( const navlib::point_t& position )
+{
+    return navlib::make_result_code( navlib::navlib_errc::invalid_operation );
+}

eeschema/navlib/nl_schematic_plugin_impl.h

@@ -0,0 +1,147 @@
+/*
+ * This program source code file is part of KiCad, a free EDA CAD application.
+ *
+ * Copyright (C) 2022 3Dconnexion
+ * Copyright (C) 2022 KiCad Developers, see AUTHORS.txt for contributors.
+ *
+ * This program is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This program 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
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file  nl_schematic_plugin_impl.h
+ * @brief Declaration of the NL_SCHEMATIC_PLUGIN_IMPL class
+ */
+
+#ifndef NL_SCHEMATIC_PLUGIN_IMPL_H_
+#define NL_SCHEMATIC_PLUGIN_IMPL_H_
+
+#if _WIN32
+#ifndef _WIN32_WINNT
+#define _WIN32_WINNT 0x0603
+#endif
+#endif
+
+// TDxWare SDK.
+#include <SpaceMouse/CNavigation3D.hpp>
+
+// wx
+#include <wx/chartype.h>
+
+// KiCAD
+#include <math/vector2d.h>
+
+// stdlib
+#include <string>
+
+// Forward declarations.
+class EDA_DRAW_PANEL_GAL;
+namespace KIGFX
+{
+class SCH_VIEW;
+}
+
+// Convenience typedef.
+typedef TDx::SpaceMouse::Navigation3D::CNavigation3D NAV_3D;
+
+/**
+ * The class that implements the accessors and mutators required for
+ * 3D navigation in an PCB_DRAW_PANEL_GAL using a SpaceMouse.
+ */
+class NL_SCHEMATIC_PLUGIN_IMPL : public NAV_3D
+{
+public:
+    /**
+     * Initializes a new instance of the NL_SCHEMATIC_PLUGIN_IMPL.
+     */
+    NL_SCHEMATIC_PLUGIN_IMPL();
+
+
+    virtual ~NL_SCHEMATIC_PLUGIN_IMPL();
+
+
+    /**
+     * Sets the viewport controlled by the SpaceMouse.
+     *
+     *  @param aViewport is the viewport to be navigated.
+     */
+    void SetCanvas( EDA_DRAW_PANEL_GAL* aViewport );
+
+
+    /**
+     * Set the connection to the 3Dconnexion driver to the focus state so that
+     * 3DMouse data is routed here.
+     *
+     * @param aFocus is true to set the connection active.
+     */
+    void SetFocus( bool aFocus );
+
+private:
+    /**
+      * Export the invocable actions and images to the 3Dconnexion UI.
+      */
+    void exportCommandsAndImages();
+
+    long GetCameraMatrix( navlib::matrix_t& aMatrix ) const override;
+    long GetPointerPosition( navlib::point_t& aPosition ) const override;
+    long GetViewExtents( navlib::box_t& aExtents ) const override;
+    long GetViewFOV( double& aFov ) const override;
+    long GetViewFrustum( navlib::frustum_t& aFrustum ) const override;
+    long GetIsViewPerspective( navlib::bool_t& aPerspective ) const override;
+    long SetCameraMatrix( const navlib::matrix_t& aMatrix ) override;
+    long SetViewExtents( const navlib::box_t& aExtents ) override;
+    long SetViewFOV( double aFov ) override;
+    long SetViewFrustum( const navlib::frustum_t& aFrustum ) override;
+    long GetModelExtents( navlib::box_t& aExtents ) const override;
+    long GetSelectionExtents( navlib::box_t& aExtents ) const override;
+    long GetSelectionTransform( navlib::matrix_t& aTransform ) const override;
+    long GetIsSelectionEmpty( navlib::bool_t& aEmpty ) const override;
+    long SetSelectionTransform( const navlib::matrix_t& aMatrix ) override;
+    long GetPivotPosition( navlib::point_t& aPosition ) const override;
+    long IsUserPivot( navlib::bool_t& aUserPivot ) const override;
+    long SetPivotPosition( const navlib::point_t& aPosition ) override;
+    long GetPivotVisible( navlib::bool_t& aVisible ) const override;
+    long SetPivotVisible( bool aVisible ) override;
+    long GetHitLookAt( navlib::point_t& aPosition ) const override;
+    long SetHitAperture( double aAperture ) override;
+    long SetHitDirection( const navlib::vector_t& aDirection ) override;
+    long SetHitLookFrom( const navlib::point_t& aPosition ) override;
+    long SetHitSelectionOnly( bool aSelectionOnly ) override;
+    long SetActiveCommand( std::string aCommandId ) override;
+
+    long SetSettingsChanged( long aChangeNumber ) override;
+    long SetMotionFlag( bool aValue ) override;
+    long SetTransaction( long aValue ) override;
+    long SetCameraTarget( const navlib::point_t& aPosition ) override;
+
+    long GetFrontView( navlib::matrix_t& aMatrix ) const override;
+    long GetCoordinateSystem( navlib::matrix_t& aMatrix ) const override;
+    long GetIsViewRotatable( navlib::bool_t& isRotatable ) const override;
+
+private:
+    EDA_DRAW_PANEL_GAL* m_viewport2D;
+    KIGFX::SCH_VIEW*    m_view;
+    bool                m_isMoving;
+    mutable double      m_viewportWidth;
+    mutable VECTOR2D    m_viewPosition;
+
+    /**
+     *  Trace mask used to enable or disable the trace output of this class.
+     *  The debug output can be turned on by setting the WXTRACE environment variable to
+     *  "KI_TRACE_NL_SCHEMATIC_PLUGIN".  See the wxWidgets documentation on wxLogTrace for
+     *  more information.
+     */
+    static const wxChar* m_logTrace;
+};
+
+#endif // NL_SCHEMATIC_PLUGIN_IMPL

eeschema/sch_base_frame.cpp

@@ -42,6 +42,9 @@
 #include <tools/ee_actions.h>
 #include <tools/ee_selection_tool.h>
 
+#if defined( KICAD_USE_3DCONNEXION )
+#include <navlib/nl_schematic_plugin.h>
+#endif
 
 LIB_SYMBOL* SchGetLibSymbol( const LIB_ID& aLibId, SYMBOL_LIB_TABLE* aLibTable,
                              SYMBOL_LIB* aCacheLib, wxWindow* aParent, bool aShowErrorMsg )
@@ -81,7 +84,8 @@ LIB_SYMBOL* SchGetLibSymbol( const LIB_ID& aLibId, SYMBOL_LIB_TABLE* aLibTable,
 SCH_BASE_FRAME::SCH_BASE_FRAME( KIWAY* aKiway, wxWindow* aParent, FRAME_T aWindowType,
                                 const wxString& aTitle, const wxPoint& aPosition,
                                 const wxSize& aSize, long aStyle, const wxString& aFrameName ) :
-    EDA_DRAW_FRAME( aKiway, aParent, aWindowType, aTitle, aPosition, aSize, aStyle, aFrameName ),
+        EDA_DRAW_FRAME( aKiway, aParent, aWindowType, aTitle, aPosition, aSize, aStyle,
+                        aFrameName ),
         m_base_frame_defaults( nullptr, "base_Frame_defaults" )
 {
     createCanvas();
@@ -300,6 +304,28 @@ void SCH_BASE_FRAME::createCanvas()
 }
 
 
+void SCH_BASE_FRAME::ActivateGalCanvas()
+{
+    EDA_DRAW_FRAME::ActivateGalCanvas();
+
+#if defined( KICAD_USE_3DCONNEXION )
+    try
+    {
+        if( !m_spaceMouse )
+        {
+            m_spaceMouse = std::make_unique<NL_SCHEMATIC_PLUGIN>();
+        }
+
+        m_spaceMouse->SetCanvas( GetCanvas() );
+    }
+    catch( const std::system_error& e )
+    {
+        wxLogTrace( wxT( "KI_TRACE_NAVLIB" ), e.what() );
+    }
+#endif
+}
+
+
 void SCH_BASE_FRAME::UpdateItem( EDA_ITEM* aItem, bool isAddOrDelete, bool aUpdateRtree )
 {
     EDA_ITEM* parent = aItem->GetParent();
@@ -471,3 +497,28 @@ COLOR4D SCH_BASE_FRAME::GetDrawBgColor() const
     return GetColorSettings()->GetColor( LAYER_SCHEMATIC_BACKGROUND );
 }
 
+
+void SCH_BASE_FRAME::handleActivateEvent( wxActivateEvent& aEvent )
+{
+    EDA_DRAW_FRAME::handleActivateEvent( aEvent );
+
+#if defined( KICAD_USE_3DCONNEXION )
+    if( m_spaceMouse )
+    {
+        m_spaceMouse->SetFocus( aEvent.GetActive() );
+    }
+#endif
+}
+
+
+void SCH_BASE_FRAME::handleIconizeEvent( wxIconizeEvent& aEvent )
+{
+    EDA_DRAW_FRAME::handleIconizeEvent( aEvent );
+
+#if defined( KICAD_USE_3DCONNEXION )
+    if( m_spaceMouse && aEvent.IsIconized() )
+    {
+        m_spaceMouse->SetFocus( false );
+    }
+#endif
+}

eeschema/sch_base_frame.h

@@ -58,6 +58,10 @@ class SYMBOL_LIB_TABLE;
 class EESCHEMA_SETTINGS;
 class SYMBOL_EDITOR_SETTINGS;
 
+#if defined( KICAD_USE_3DCONNEXION )
+class NL_SCHEMATIC_PLUGIN;
+#endif
+
 /**
  * Load symbol from symbol library table.
  *
@@ -241,7 +245,13 @@ public:
 
     COLOR_SETTINGS* GetColorSettings( bool aForceRefresh = false ) const override;
 
+    void ActivateGalCanvas() override;
+
 protected:
+    void handleActivateEvent( wxActivateEvent& aEvent ) override;
+
+    void handleIconizeEvent( wxIconizeEvent& aEvent ) override;
+
     /**
      * Save Symbol Library Tables to disk.
      *
@@ -254,6 +264,11 @@ protected:
     /// These are only used by symbol_editor.  Eeschema should be using the one inside
     /// the SCHEMATIC.
     SCHEMATIC_SETTINGS  m_base_frame_defaults;
+
+private:
+#if defined( KICAD_USE_3DCONNEXION )
+    std::unique_ptr<NL_SCHEMATIC_PLUGIN> m_spaceMouse;
+#endif
 };
 
 #endif // SCH_BASE_FRAME_H_

include/eda_base_frame.h

@@ -606,6 +606,15 @@ protected:
      */
     void onAutoSaveTimer( wxTimerEvent& aEvent );
 
+
+    /**
+     * Handle a window iconize event.
+     * 
+     * @param aEvent is the data for the event.
+     */
+    virtual void handleIconizeEvent( wxIconizeEvent& aEvent ) {}
+    void         onIconize( wxIconizeEvent& aEvent );
+
     /**
      * Return the auto save status of the application.
      *

include/pcb_base_frame.h

@@ -392,6 +392,8 @@ protected:
 
     void handleActivateEvent( wxActivateEvent& aEvent ) override;
 
+    void handleIconizeEvent( wxIconizeEvent& aEvent ) override;
+
     /**
      * Attempts to load \a aFootprintId from the footprint library table.
      *

libs/kimath/include/math/util.h

@@ -7,6 +7,11 @@
  *
  * @author Tomasz Wlostowski <tomasz.wlostowski@cern.ch>
  *
+ * The equals() method to compare two floating point values adapted from
+ * AlmostEqualRelativeAndAbs() on 
+ * https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/
+ * (C) Bruce Dawson subject to the Apache 2.0 license.
+ *
  * This program is free software; you can redistribute it and/or
  * modify it under the terms of the GNU General Public License
  * as published by the Free Software Foundation; either version 2
@@ -32,6 +37,7 @@
 #include <cstdint>
 #include <limits>
 #include <typeinfo>
+#include <type_traits>
 
 /**
  * Helper to avoid directly including wx/log.h for the templated functions in kimath
@@ -113,4 +119,37 @@ int rescale( int aNumerator, int aValue, int aDenominator );
 template <>
 int64_t rescale( int64_t aNumerator, int64_t aValue, int64_t aDenominator );
 
+
+/**
+ * Template to compare two floating point values for equality within a required epsilon.
+ *
+ * @param aFirst value to compare.
+ * @param aSecond value to compare.
+ * @param aEpsilon allowed error.
+ * @return true if the values considered equal within the specified epsilon, otherwise false.
+ */
+template <class T>
+typename std::enable_if<!std::numeric_limits<T>::is_integer, bool>::type
+equals( T aFirst, T aSecond, T aEpsilon = std::numeric_limits<T>::epsilon() )
+{
+    T diff = fabs( aFirst - aSecond );
+
+    if( diff < aEpsilon )
+    {
+        return true;
+    }
+
+    aFirst = fabs( aFirst );
+    aSecond = fabs( aSecond );
+    T largest = aFirst > aSecond ? aFirst : aSecond;
+
+    if( diff <= largest * aEpsilon )
+    {
+        return true;
+    }
+
+    return false;
+}
+
+
 #endif // UTIL_H

libs/kimath/include/math/vector2d.h

@@ -573,6 +573,28 @@ const int LexicographicalCompare( const VECTOR2<T>& aA, const VECTOR2<T>& aB )
 }
 
 
+/**
+ * Template to compare two VECTOR2<T> values for equality within a required epsilon.
+ *
+ * @param aFirst value to compare.
+ * @param aSecond value to compare.
+ * @param aEpsilon allowed error.
+ * @return true if the values considered equal within the specified epsilon, otherwise false.
+ */
+template <class T>
+typename std::enable_if<!std::numeric_limits<T>::is_integer, bool>::type
+equals( VECTOR2<T> const& aFirst, VECTOR2<T> const& aSecond,
+        T aEpsilon = std::numeric_limits<T>::epsilon() )
+{
+    if( !equals( aFirst.x, aSecond.x, aEpsilon ) )
+    {
+        return false;
+    }
+
+    return equals( aFirst.y, aSecond.y, aEpsilon );
+}
+
+
 template <class T>
 std::ostream& operator<<( std::ostream& aStream, const VECTOR2<T>& aVector )
 {

pcbnew/navlib/nl_pcbnew_plugin_impl.cpp

@@ -42,55 +42,6 @@
 #include <wx/log.h>
 #include <wx/mstream.h>
 
-/**
- * Template to compare two floating point values for equality within a required epsilon.
- *
- * @param aFirst value to compare.
- * @param aSecond value to compare.
- * @param aEpsilon allowed error.
- * @return true if the values considered equal within the specified epsilon, otherwise false.
- */
-template <class T>
-bool equals( T aFirst, T aSecond, T aEpsilon = static_cast<T>( FLT_EPSILON ) )
-{
-    T diff = fabs( aFirst - aSecond );
-
-    if( diff < aEpsilon )
-    {
-        return true;
-    }
-
-    aFirst = fabs( aFirst );
-    aSecond = fabs( aSecond );
-    T largest = aFirst > aSecond ? aFirst : aSecond;
-
-    if( diff <= largest * aEpsilon )
-    {
-        return true;
-    }
-
-    return false;
-}
-
-/**
- * Template to compare two VECTOR2<T> values for equality within a required epsilon.
- *
- * @param aFirst value to compare.
- * @param aSecond value to compare.
- * @param aEpsilon allowed error.
- * @return true if the values considered equal within the specified epsilon, otherwise false.
- */
-template <class T>
-bool equals( VECTOR2<T> const& aFirst, VECTOR2<T> const& aSecond,
-             T aEpsilon = static_cast<T>( FLT_EPSILON ) )
-{
-    if( !equals( aFirst.x, aSecond.x, aEpsilon ) )
-    {
-        return false;
-    }
-
-    return equals( aFirst.y, aSecond.y, aEpsilon );
-}
 
 /**
  * Flag to enable the NL_PCBNEW_PLUGIN debug tracing.
@@ -129,7 +80,7 @@ NL_PCBNEW_PLUGIN_IMPL::~NL_PCBNEW_PLUGIN_IMPL()
 
 void NL_PCBNEW_PLUGIN_IMPL::SetFocus( bool aFocus )
 {
-    wxLogTrace( m_logTrace, "NL_PCBNEW_PLUGIN_IMPL::SetFocus %d", aFocus );
+    wxLogTrace( m_logTrace, wxT( "NL_PCBNEW_PLUGIN_IMPL::SetFocus %d" ), aFocus );
     NAV_3D::Write( navlib::focus_k, aFocus );
 }
 
@@ -178,7 +129,7 @@ static CATEGORY_STORE::iterator add_category( std::string     aCategoryPath,
 
 void NL_PCBNEW_PLUGIN_IMPL::exportCommandsAndImages()
 {
-    wxLogTrace( m_logTrace, "NL_PCBNEW_PLUGIN_IMPL::exportCommandsAndImages" );
+    wxLogTrace( m_logTrace, wxT( "NL_PCBNEW_PLUGIN_IMPL::exportCommandsAndImages" ) );
 
     std::list<TOOL_ACTION*> actions = ACTION_MANAGER::GetActionList();
 
@@ -253,13 +204,13 @@ void NL_PCBNEW_PLUGIN_IMPL::exportCommandsAndImages()
                                                    streamBuffer->GetBufferSize() ),
                                       0 );
 
-                wxLogTrace( m_logTrace, "Adding image for : %s", name );
+                wxLogTrace( m_logTrace, wxT( "Adding image for : %s" ), name );
                 vImages.push_back( std::move( tdxImage ) );
             }
         }
 
-        wxLogTrace( m_logTrace, "Inserting command: %s,  description: %s,  in category:  %s", name,
+        wxLogTrace( m_logTrace, wxT( "Inserting command: %s,  description: %s,  in category:  %s" ),
-                    description, iter->first );
+                    name, description, iter->first );
 
         iter->second->push_back(
                 CCommand( std::move( name ), std::move( label ), std::move( description ) ) );
@@ -349,7 +300,8 @@ long NL_PCBNEW_PLUGIN_IMPL::SetCameraMatrix( const navlib::matrix_t& matrix )
     long     result = 0;
     VECTOR2D viewPos( matrix.m4x4[3][0], matrix.m4x4[3][1] );
 
-    if( !equals( m_view->GetCenter(), m_viewPosition ) )
+    if( !equals( m_view->GetCenter(), m_viewPosition,
+                 static_cast<VECTOR2D::coord_type>( FLT_EPSILON ) ) )
     {
         m_view->SetCenter( viewPos + m_view->GetCenter() - m_viewPosition );
         result = navlib::make_result_code( navlib::navlib_errc::error );
@@ -385,7 +337,7 @@ long NL_PCBNEW_PLUGIN_IMPL::SetViewExtents( const navlib::box_t& extents )
     double scale = width / m_viewportWidth * m_view->GetScale();
     m_view->SetScale( scale, m_view->GetCenter() );
 
-    if( !equals( m_view->GetScale(), scale ) )
+    if( !equals( m_view->GetScale(), scale, static_cast<double>( FLT_EPSILON ) ) )
     {
         result = navlib::make_result_code( navlib::navlib_errc::error );
     }

pcbnew/pcb_base_frame.cpp

@@ -119,6 +119,19 @@ void PCB_BASE_FRAME::handleActivateEvent( wxActivateEvent& aEvent )
 }
 
 
+void PCB_BASE_FRAME::handleIconizeEvent( wxIconizeEvent& aEvent )
+{
+    EDA_DRAW_FRAME::handleIconizeEvent( aEvent );
+
+#if defined( KICAD_USE_3DCONNEXION )
+    if( m_spaceMouse != nullptr && aEvent.IsIconized() )
+    {
+        m_spaceMouse->SetFocus( false );
+    }
+#endif
+}
+
+
 EDA_3D_VIEWER_FRAME* PCB_BASE_FRAME::Get3DViewerFrame()
 {
     wxWindow* frame = FindWindowByName( QUALIFIED_VIEWER3D_FRAMENAME( this ) );