P_FreeVRTracker.C

00001 /***************************************************************************
00002 *cr 
00003 *cr (C) Copyright 1995-2019 The Board of Trustees of the 
00004 *cr University of Illinois 
00005 *cr All Rights Reserved 
00006 *cr 
00007 ***************************************************************************/
00008 
00009 /***************************************************************************
00010 * RCS INFORMATION:
00011 *
00012 * $RCSfile: P_FreeVRTracker.C,v $
00013 * $Author: johns $ $Locker: $ $State: Exp $
00014 * $Revision: 1.18 $ $Date: 2019年01月17日 21:21:00 $
00015 *
00016 ***************************************************************************
00017 * DESCRIPTION:
00018 * This is Paul's new Tracker code -- pgrayson@ks.uiuc.edu
00019 * -dispdev freevr
00020 ***************************************************************************/
00021 
00022 #include "Matrix4.h"
00023 #include "P_Tracker.h"
00024 #include "P_FreeVRTracker.h"
00025 #include <freevr.h>
00026 
00027 void FreeVRTracker::update() {
00028 // FreeVR Wand is sensor 1
00029 #define WAND_SENSOR 1
00030 
00031 vrPoint wand_location;
00032 vrPointGetRWFrom6sensor(&wand_location, WAND_SENSOR);
00033 pos[0] = wand_location.v[0];
00034 pos[1] = wand_location.v[1];
00035 pos[2] = wand_location.v[2];
00036 
00037 /* get Euler angles for wand orientation */
00038 vrEuler wand_orientation;
00039 vrEulerGetRWFrom6sensor(&wand_orientation, WAND_SENSOR);
00040 
00041 orient->identity();
00042 orient->rot(wand_orientation.r[0],'x');
00043 orient->rot(wand_orientation.r[1],'y');
00044 orient->rot(wand_orientation.r[2],'z');
00045 orient->rot(90,'y'); // to face forward (-z)
00046 }
00047 
00048 int FreeVRTracker::do_start(const SensorConfig *config) {
00049 // Must check that we are actually running in FreeVR here; if not, return 0.
00050 if (!config->require_freevr_name()) return 0;
00051 if (!config->have_one_sensor()) return 0;
00052 return 1;
00053 }