P_Tracker.h

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_Tracker.h,v $
00013 * $Author: johns $ $Locker: $ $State: Exp $
00014 * $Revision: 1.30 $ $Date: 2019年01月17日 21:21:01 $
00015 *
00016 ***************************************************************************
00017 * DESCRIPTION:
00018 * This is Paul's new Tracker code -- pgrayson@ks.uiuc.edu
00019 *
00020 * An object representing a connection to a machine that controls 3d
00021 * input devices (optionally with buttons, force-feedback, etc). One
00022 * connection may control one or many devices, so there needs to be a
00023 * global list of trackers which the Sensors peruse when first being
00024 * initialized.
00025 *
00026 ***************************************************************************/
00027 
00028 #ifndef VMDTRACKER_H
00029 #define VMDTRACKER_H
00030 
00031 #include "Matrix4.h"
00032 #include "P_SensorConfig.h"
00033 
00065 
00066 
00067 
00068 
00069 
00070 
00071 
00072 class VMDTracker { 
00073 private:
00074 float scale; 
00075 float offset[3];
00076 float offset_pos[3];
00077 
00078 Matrix4 left_rot, right_rot;
00079 
00080 protected:
00081 int dim; 
00082 
00083 float pos[3];
00084 Matrix4 *orient;
00085 Matrix4 rot_orient;
00086 
00087 void moveto(float x, float y, float z) {
00088 pos[0] = x; pos[1] = y; pos[2] = z;
00089 }
00090 
00092 virtual int do_start(const SensorConfig *) { return 1; }
00093 
00094 public:
00096 VMDTracker();
00097 virtual ~VMDTracker();
00098 
00100 virtual const char *device_name() const = 0;
00101 
00102 virtual VMDTracker *clone() = 0;
00103 
00106 virtual int start(const SensorConfig *);
00107 virtual void update() = 0;
00108 virtual int alive() = 0; // am I alive?
00109 const float *position() { 
00110 offset_pos[0] = scale*(offset[0] + pos[0]);
00111 offset_pos[1] = scale*(offset[1] + pos[1]);
00112 offset_pos[2] = scale*(offset[2] + pos[2]);
00113 return offset_pos;
00114 }
00115 inline const Matrix4 &orientation() { 
00116 rot_orient.loadmatrix(left_rot);
00117 rot_orient.multmatrix(*orient);
00118 rot_orient.multmatrix(right_rot);
00119 return rot_orient; 
00120 }
00121 
00122 void set_offset(const float o[3]) {
00123 offset[0] = o[0];
00124 offset[1] = o[1];
00125 offset[2] = o[2];
00126 }
00127 const float *get_offset() const { return offset; }
00128 
00129 void set_scale(float s) { scale = s; }
00130 float get_scale() const { return scale; }
00131 
00132 void set_right_rot(const Matrix4 *right) { right_rot = *right; }
00133 void set_left_rot(const Matrix4 *left) { left_rot = *left; }
00134 
00137 int dimension() const { return dim; }
00138 };
00139 
00140 #endif
00141