---

P_Tracker.h

Go to the documentation of this file.

/***************************************************************************
 *cr                                                                       
 *cr            (C) Copyright 1995-2019 The Board of Trustees of the           
 *cr                        University of Illinois                       
 *cr                         All Rights Reserved                        
 *cr                                                                   
 ***************************************************************************/

/***************************************************************************
 * RCS INFORMATION:
 *
 *      $RCSfile: P_Tracker.h,v $
 *      $Author: johns $        $Locker:  $             $State: Exp $
 *      $Revision: 1.30 $       $Date: 2019/01/17 21:21:01 $
 *
 ***************************************************************************
 * DESCRIPTION:
 * This is Paul's new Tracker code -- pgrayson@ks.uiuc.edu
 *
 * An object representing a connection to a machine that controls 3d
 * input devices (optionally with buttons, force-feedback, etc). One
 * connection may control one or many devices, so there needs to be a
 * global list of trackers which the Sensors peruse when first being
 * initialized.
 *
 ***************************************************************************/

#ifndef VMDTRACKER_H
#define VMDTRACKER_H

#include "Matrix4.h"
#include "P_SensorConfig.h"








class VMDTracker { 
 private:
  float scale;         
  float offset[3];
  float offset_pos[3];

  Matrix4 left_rot, right_rot;

 protected:
  int dim;             

  float pos[3];
  Matrix4 *orient;
  Matrix4 rot_orient;

  void moveto(float x, float y, float z) {
    pos[0] = x; pos[1] = y; pos[2] = z;
  }

  virtual int do_start(const SensorConfig *) { return 1; }

 public:
  VMDTracker();
  virtual ~VMDTracker();

  virtual const char *device_name() const = 0;

  virtual VMDTracker *clone() = 0;

  virtual int start(const SensorConfig *);
  virtual void update() = 0;
  virtual int alive() = 0; // am I alive?
  const float *position() { 
    offset_pos[0] = scale*(offset[0] + pos[0]);
    offset_pos[1] = scale*(offset[1] + pos[1]);
    offset_pos[2] = scale*(offset[2] + pos[2]);
    return offset_pos;
  }
  inline const Matrix4 &orientation() { 
    rot_orient.loadmatrix(left_rot);
    rot_orient.multmatrix(*orient);
    rot_orient.multmatrix(right_rot);
    return rot_orient;    
  }

  void set_offset(const float o[3]) {
    offset[0] = o[0];
    offset[1] = o[1];
    offset[2] = o[2];
  }
  const float *get_offset() const { return offset; }

  void set_scale(float s) { scale = s;    }
  float get_scale() const { return scale; }

  void set_right_rot(const Matrix4 *right) { right_rot = *right; }
  void set_left_rot(const Matrix4 *left)   { left_rot = *left;   }

  int dimension() const { return dim; }
};

#endif

---