SpaceballTracker.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: SpaceballTracker.C,v $
00013 * $Author: johns $ $Locker: $ $State: Exp $
00014 * $Revision: 1.18 $ $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 *
00021 ***************************************************************************/
00022 
00023 
00024 #include <stdlib.h> // for getenv(), abs() etc.
00025 #include <string.h>
00026 #include "VMDApp.h"
00027 #include "SpaceballTracker.h"
00028 #include "Spaceball.h"
00029 #include "Matrix4.h"
00030 #include "Inform.h"
00031 #include "utilities.h"
00032 
00033 SpaceballTracker::SpaceballTracker(VMDApp *vmdapp) {
00034 app = vmdapp; // copy VMDApp pointer for use in accessing local spaceball
00035 
00036 uselocal=0; // zero out the local Spaceball flag
00037 
00038 #if defined(VMDLIBSBALL)
00039 sball=NULL; // zero it out to begin with
00040 #endif
00041 }
00042 
00043 int SpaceballTracker::do_start(const SensorConfig *config) {
00044 #if defined(VMDLIBSBALL)
00045 if (sball) return FALSE;
00046 #endif
00047 if (!config->require_local()) return 0;
00048 if (!config->have_one_sensor()) return 0;
00049 
00050 char *myUSL = stringdup(config->getname());
00051 
00052 if (!strupcmp(myUSL, "VMDLOCAL")) {
00053 msgInfo << "Opening VMD console Spaceball device (tracker)." << sendmsg;
00054 uselocal=1; // Use the main VMD spaceball for input
00055 
00056 // set the default translation and rotation increments
00057 // these really need to be made user modifiable at runtime
00058 transInc = 1.0f;
00059 rotInc = 1.0f;
00060 scaleInc = 1.0f;
00061 } else {
00062 #if defined(VMDLIBSBALL)
00063 msgInfo << "Opening Spaceball tracker (direct I/O) on port: " << myUSL << sendmsg;
00064 sball = sball_open(myUSL);
00065 if (sball == NULL) 
00066 msgErr << "Failed to open Spaceball serial port, tracker disabled" 
00067 << sendmsg; 
00068 
00069 // set the default translation and rotation increments
00070 // these really need to be made user modifiable at runtime
00071 transInc = 1.0f / 6000.0f;
00072 rotInc = 1.0f / 50.0f;
00073 scaleInc = 1.0f / 6000.0f;
00074 #else
00075 msgErr << "Cannot open Spaceball with direct I/O, not compiled with "
00076 "LIBSBALL option" << sendmsg;
00077 #endif
00078 }
00079 
00080 
00081 // reset the position
00082 moveto(0,0,0);
00083 orient->identity();
00084 
00085 delete [] myUSL;
00086 
00087 return TRUE;
00088 }
00089 
00090 SpaceballTracker::~SpaceballTracker(void) {
00091 #if defined(VMDLIBSBALL)
00092 if (sball != NULL)
00093 sball_close(sball);
00094 #endif
00095 }
00096 
00097 void SpaceballTracker::update() {
00098 Matrix4 temp;
00099 
00100 if(!alive()) {
00101 moveto(0,0,0);
00102 orient->identity();
00103 return;
00104 }
00105 
00106 if (uselocal) {
00107 float tx, ty, tz, rx, ry, rz;
00108 tx=ty=tz=rx=ry=rz=0.0f;
00109 int buttons;
00110 buttons=0;
00111 
00112 // query VMDApp spaceball for events
00113 if (app != NULL) {
00114 app->spaceball_get_tracker_status(tx, ty, tz, rx, ry, rz, buttons);
00115 }
00116 
00117 // Z-axis rotation/trans have to be negated in order to convert to the
00118 // VMD coordinate system
00119 temp.identity();
00120 temp.rot(rx, 'x');
00121 temp.rot(ry, 'y');
00122 temp.rot(rz, 'z');
00123 temp.multmatrix(*orient);
00124 orient->loadmatrix(temp);
00125 pos[0] += tx;
00126 pos[1] += ty;
00127 pos[2] += tz;
00128 } else {
00129 int tx, ty, tz, rx, ry, rz, buttons;
00130 tx=ty=tz=rx=ry=rz=buttons=0;
00131 #if defined(VMDLIBSBALL)
00132 if (sball != NULL ) {
00133 if (!sball_getstatus(sball, &tx, &ty, &tz, &rx, &ry, &rz, &buttons))
00134 return;
00135 }
00136 #endif
00137 // Z-axis rotation/trans have to be negated in order to convert to the
00138 // VMD coordinate system
00139 temp.identity();
00140 temp.rot( ((float)rx)*rotInc, 'x' );
00141 temp.rot( ((float)ry)*rotInc, 'y' );
00142 temp.rot(-((float)rz)*rotInc, 'z' );
00143 temp.multmatrix(*orient);
00144 orient->loadmatrix(temp);
00145 pos[0] += tx * transInc;
00146 pos[1] += ty * transInc;
00147 pos[2] +=-tz * transInc;
00148 }
00149 }
00150