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vrpn trackers use y-up

This commit is contained in:
David Rose 2001-12-10 18:47:45 +00:00
parent 856ac50310
commit 95c9841fbc
12 changed files with 286 additions and 62 deletions
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24
panda/src/device/clientBase.I
View File

@ -60,3 +60,27 @@ INLINE double ClientBase::
get_last_poll_time() const {
return _last_poll_time;
}
////////////////////////////////////////////////////////////////////
// Function: ClientBase::set_coordinate_system
// Access: Published
// Description: Specifies the coordinate system that all devices
// associated with this client will operate in.
// Normally, this is CS_default.
////////////////////////////////////////////////////////////////////
void ClientBase::
set_coordinate_system(CoordinateSystem cs) {
_cs = cs;
}
////////////////////////////////////////////////////////////////////
// Function: ClientBase::get_coordinate_system
// Access: Published
// Description: Returns the coordinate system that all devices
// associated with this client will operate in.
// Normally, this is CS_default.
////////////////////////////////////////////////////////////////////
INLINE CoordinateSystem ClientBase::
get_coordinate_system() const {
return _cs;
}

1
panda/src/device/clientBase.cxx
View File

@ -32,6 +32,7 @@ ClientBase() {
_forked = false;
_last_poll_time = 0.0f;
_last_poll_frame = 0;
_cs = CS_default;
#ifdef HAVE_IPC
_client_thread = (thread *)NULL;

23
panda/src/device/clientBase.h
View File

@ -19,26 +19,27 @@
#ifndef CLIENTBASE_H
#define CLIENTBASE_H
#include <pandabase.h>
#include "pandabase.h"
#include "clientDevice.h"
#include <typedReferenceCount.h>
#include <luse.h>
#include <vector_string.h>
#include <vector_int.h>
#include <clockObject.h>
#include <pointerTo.h>
#include "typedReferenceCount.h"
#include "luse.h"
#include "vector_string.h"
#include "vector_int.h"
#include "clockObject.h"
#include "pointerTo.h"
#include "coordinateSystem.h"
#ifdef HAVE_IPC
#include <ipc_thread.h>
#include "ipc_thread.h"
#endif
#include "pmap.h"
////////////////////////////////////////////////////////////////////
// Class : ClientBase
// Description : An abstract base class for a family of of client
// Description : An abstract base class for a family of client
// device interfaces--including trackers, buttons,
// dials, and other analog inputs.
//
@ -59,6 +60,9 @@ PUBLISHED:
INLINE bool poll();
INLINE double get_last_poll_time() const;
INLINE void set_coordinate_system(CoordinateSystem cs);
INLINE CoordinateSystem get_coordinate_system() const;
public:
PT(ClientDevice) get_device(TypeHandle device_type,
const string &device_name);
@ -81,6 +85,7 @@ private:
bool _forked;
double _last_poll_time;
int _last_poll_frame;
CoordinateSystem _cs;
#ifdef HAVE_IPC
int _sleep_time;

55
panda/src/device/trackerNode.I
View File

@ -62,3 +62,58 @@ get_transform() const {
return _transform;
}
////////////////////////////////////////////////////////////////////
// Function: TrackerNode::set_tracker_coordinate_system
// Access: Published
// Description: Specifies the coordinate system that the tracker
// associated with this node will operate in. Normally,
// this is set from the ClientBase that's used to create
// the TrackerNode, so it should not need to be set on
// an individual tracker basis.
////////////////////////////////////////////////////////////////////
void TrackerNode::
set_tracker_coordinate_system(CoordinateSystem cs) {
_tracker_cs = cs;
if (_tracker_cs == CS_default) {
_tracker_cs = default_coordinate_system;
}
}
////////////////////////////////////////////////////////////////////
// Function: TrackerNode::get_tracker_coordinate_system
// Access: Published
// Description: Returns the coordinate system that the tracker
// associated with this node will operate in.
////////////////////////////////////////////////////////////////////
INLINE CoordinateSystem TrackerNode::
get_tracker_coordinate_system() const {
return _tracker_cs;
}
////////////////////////////////////////////////////////////////////
// Function: TrackerNode::set_graph_coordinate_system
// Access: Published
// Description: Specifies the coordinate system that the TrackerNode
// will convert its transform into for passing down the
// data graph. Normally, this is CS_default.
////////////////////////////////////////////////////////////////////
void TrackerNode::
set_graph_coordinate_system(CoordinateSystem cs) {
_graph_cs = cs;
if (_graph_cs == CS_default) {
_graph_cs = default_coordinate_system;
}
}
////////////////////////////////////////////////////////////////////
// Function: TrackerNode::get_graph_coordinate_system
// Access: Published
// Description: Returns the coordinate system that the TrackerNode
// will convert its transform into for passing down the
// data graph. Normally, this is CS_default.
////////////////////////////////////////////////////////////////////
INLINE CoordinateSystem TrackerNode::
get_graph_coordinate_system() const {
return _graph_cs;
}

7
panda/src/device/trackerNode.cxx
View File

@ -37,6 +37,9 @@ TrackerNode(ClientBase *client, const string &device_name) :
DataNode(device_name)
{
nassertv(client != (ClientBase *)NULL);
set_tracker_coordinate_system(client->get_coordinate_system());
set_graph_coordinate_system(CS_default);
PT(ClientDevice) device =
client->get_device(ClientTrackerDevice::get_class_type(), device_name);
@ -87,6 +90,10 @@ transmit_data(AllTransitionsWrapper &data) {
_tracker->unlock();
_data.get_orient().extract_to_matrix(_transform);
if (_tracker_cs != _graph_cs) {
// Convert the rotation for passing down the data graph.
_transform = _transform * LMatrix4f::convert_mat(_tracker_cs, _graph_cs);
}
_transform.set_row(3, _data.get_pos());
_transform_attrib->set_value(_transform);

6
panda/src/device/trackerNode.h
View File

@ -52,6 +52,11 @@ PUBLISHED:
INLINE const LOrientationf &get_orient() const;
INLINE const LMatrix4f &get_transform() const;
INLINE void set_tracker_coordinate_system(CoordinateSystem cs);
INLINE CoordinateSystem get_tracker_coordinate_system() const;
INLINE void set_graph_coordinate_system(CoordinateSystem cs);
INLINE CoordinateSystem get_graph_coordinate_system() const;
////////////////////////////////////////////////////////////////////
// From parent class DataNode
@ -70,6 +75,7 @@ private:
PT(ClientTrackerDevice) _tracker;
TrackerData _data;
LMatrix4f _transform;
CoordinateSystem _tracker_cs, _graph_cs;
public:
virtual TypeHandle get_type() const {

92
panda/src/linmath/lmatrix3_src.cxx
View File

@ -18,11 +18,101 @@
TypeHandle FLOATNAME(LMatrix3)::_type_handle;
FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::_ident_mat =
const FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::_ident_mat =
FLOATNAME(LMatrix3)(1.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 1.0f);
const FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::_y_to_z_up_mat =
FLOATNAME(LMatrix3)(1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f,
0.0f,-1.0f, 0.0f);
const FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::_z_to_y_up_mat =
FLOATNAME(LMatrix3)(1.0f, 0.0f, 0.0f,
0.0f, 0.0f,-1.0f,
0.0f, 1.0f, 0.0f);
const FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::_flip_y_mat =
FLOATNAME(LMatrix3)(1.0f, 0.0f, 0.0f,
0.0f,-1.0f, 0.0f,
0.0f, 0.0f, 1.0f);
const FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::_flip_z_mat =
FLOATNAME(LMatrix3)(1.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f,
0.0f, 0.0f,-1.0f);
const FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::_lz_to_ry_mat =
FLOATNAME(LMatrix3)::_flip_y_mat * FLOATNAME(LMatrix3)::_z_to_y_up_mat;
const FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::_ly_to_rz_mat =
FLOATNAME(LMatrix3)::_flip_z_mat * FLOATNAME(LMatrix3)::_y_to_z_up_mat;
////////////////////////////////////////////////////////////////////
// Function: LMatrix::convert_mat
// Access: Public, Static
// Description: Returns a matrix that transforms from the indicated
// coordinate system to the indicated coordinate system.
////////////////////////////////////////////////////////////////////
const FLOATNAME(LMatrix3) &FLOATNAME(LMatrix3)::
convert_mat(CoordinateSystem from, CoordinateSystem to) {
if (from == CS_default) {
from = default_coordinate_system;
}
if (to == CS_default) {
to = default_coordinate_system;
}
switch (from) {
case CS_zup_left:
switch (to) {
case CS_zup_left: return _ident_mat;
case CS_yup_left: return _z_to_y_up_mat;
case CS_zup_right: return _flip_y_mat;
case CS_yup_right: return _lz_to_ry_mat;
default: break;
}
break;
case CS_yup_left:
switch (to) {
case CS_zup_left: return _y_to_z_up_mat;
case CS_yup_left: return _ident_mat;
case CS_zup_right: return _ly_to_rz_mat;
case CS_yup_right: return _flip_z_mat;
default: break;
}
break;
case CS_zup_right:
switch (to) {
case CS_zup_left: return _flip_y_mat;
case CS_yup_left: return _lz_to_ry_mat;
case CS_zup_right: return _ident_mat;
case CS_yup_right: return _z_to_y_up_mat;
default: break;
}
break;
case CS_yup_right:
switch (to) {
case CS_zup_left: return _ly_to_rz_mat;
case CS_yup_left: return _flip_z_mat;
case CS_zup_right: return _y_to_z_up_mat;
case CS_yup_right: return _ident_mat;
default: break;
}
break;
default:
break;
}
linmath_cat.error()
<< "Invalid coordinate system value!\n";
return _ident_mat;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::fill
// Access: Public

25
panda/src/linmath/lmatrix3_src.h
View File

@ -157,6 +157,9 @@ PUBLISHED:
static INLINE_LINMATH FLOATNAME(LMatrix3)
scale_mat(FLOATTYPE sx, FLOATTYPE sy, FLOATTYPE sz);
static const FLOATNAME(LMatrix3) &convert_mat(CoordinateSystem from,
CoordinateSystem to);
// We don't have a scale_mat() that takes a single uniform scale
// parameter, because it would be ambiguous whether we mean a 2-d or
// a 3-d scale.
@ -175,20 +178,26 @@ public:
public:
union {
struct {
FLOATTYPE _00, _01, _02;
FLOATTYPE _10, _11, _12;
FLOATTYPE _20, _21, _22;
} m;
FLOATTYPE data[3 * 3];
struct {
FLOATTYPE _00, _01, _02;
FLOATTYPE _10, _11, _12;
FLOATTYPE _20, _21, _22;
} m;
FLOATTYPE data[3 * 3];
} _m;
private:
INLINE_LINMATH FLOATTYPE mult_cel(const FLOATNAME(LMatrix3) &other, int x, int y) const;
INLINE_LINMATH FLOATTYPE det2(FLOATTYPE e00, FLOATTYPE e01, FLOATTYPE e10, FLOATTYPE e11) const;
static FLOATNAME(LMatrix3) _ident_mat;
static const FLOATNAME(LMatrix3) _ident_mat;
static const FLOATNAME(LMatrix3) _y_to_z_up_mat;
static const FLOATNAME(LMatrix3) _z_to_y_up_mat;
static const FLOATNAME(LMatrix3) _flip_y_mat;
static const FLOATNAME(LMatrix3) _flip_z_mat;
static const FLOATNAME(LMatrix3) _lz_to_ry_mat;
static const FLOATNAME(LMatrix3) _ly_to_rz_mat;
//Functionality for reading and writing from/to a binary source
public:

54
panda/src/linmath/lmatrix4_src.cxx
View File

@ -36,13 +36,31 @@ const FLOATNAME(LMatrix4) FLOATNAME(LMatrix4)::_z_to_y_up_mat =
0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f);
const FLOATNAME(LMatrix4) FLOATNAME(LMatrix4)::_flip_y_mat =
FLOATNAME(LMatrix4)(1.0f, 0.0f, 0.0f, 0.0f,
0.0f,-1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f);
const FLOATNAME(LMatrix4) FLOATNAME(LMatrix4)::_flip_z_mat =
FLOATNAME(LMatrix4)(1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f,-1.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f);
const FLOATNAME(LMatrix4) FLOATNAME(LMatrix4)::_lz_to_ry_mat =
FLOATNAME(LMatrix4)::_flip_y_mat * FLOATNAME(LMatrix4)::_z_to_y_up_mat;
const FLOATNAME(LMatrix4) FLOATNAME(LMatrix4)::_ly_to_rz_mat =
FLOATNAME(LMatrix4)::_flip_z_mat * FLOATNAME(LMatrix4)::_y_to_z_up_mat;
////////////////////////////////////////////////////////////////////
// Function: LMatrix::convert_mat
// Access: Public, Static
// Description: Returns a matrix that transforms from the indicated
// coordinate system to the indicated coordinate system.
////////////////////////////////////////////////////////////////////
FLOATNAME(LMatrix4) FLOATNAME(LMatrix4)::
const FLOATNAME(LMatrix4) &FLOATNAME(LMatrix4)::
convert_mat(CoordinateSystem from, CoordinateSystem to) {
if (from == CS_default) {
from = default_coordinate_system;
@ -53,40 +71,40 @@ convert_mat(CoordinateSystem from, CoordinateSystem to) {
switch (from) {
case CS_zup_left:
switch (to) {
case CS_zup_left: return ident_mat();
case CS_yup_left: return z_to_y_up_mat();
case CS_zup_right: return scale_mat(1.0f, -1.0f, 1.0f);
case CS_yup_right: return scale_mat(1.0f, -1.0f, 1.0f) * z_to_y_up_mat();
case CS_zup_left: return _ident_mat;
case CS_yup_left: return _z_to_y_up_mat;
case CS_zup_right: return _flip_y_mat;
case CS_yup_right: return _lz_to_ry_mat;
default: break;
}
break;
case CS_yup_left:
switch (to) {
case CS_zup_left: return y_to_z_up_mat();
case CS_yup_left: return ident_mat();
case CS_zup_right: return scale_mat(1.0f, 1.0f, -1.0f) * y_to_z_up_mat();
case CS_yup_right: return scale_mat(1.0f, 1.0f, -1.0f);
case CS_zup_left: return _y_to_z_up_mat;
case CS_yup_left: return _ident_mat;
case CS_zup_right: return _ly_to_rz_mat;
case CS_yup_right: return _flip_z_mat;
default: break;
}
break;
case CS_zup_right:
switch (to) {
case CS_zup_left: return scale_mat(1.0f, -1.0f, 1.0f);
case CS_yup_left: return scale_mat(1.0f, -1.0f, 1.0f) * z_to_y_up_mat();
case CS_zup_right: return ident_mat();
case CS_yup_right: return z_to_y_up_mat();
case CS_zup_left: return _flip_y_mat;
case CS_yup_left: return _lz_to_ry_mat;
case CS_zup_right: return _ident_mat;
case CS_yup_right: return _z_to_y_up_mat;
default: break;
}
break;
case CS_yup_right:
switch (to) {
case CS_zup_left: return scale_mat(1.0f, 1.0f, -1.0f) * y_to_z_up_mat();
case CS_yup_left: return scale_mat(1.0f, 1.0f, -1.0f);
case CS_zup_right: return y_to_z_up_mat();
case CS_yup_right: return ident_mat();
case CS_zup_left: return _ly_to_rz_mat;
case CS_yup_left: return _flip_z_mat;
case CS_zup_right: return _y_to_z_up_mat;
case CS_yup_right: return _ident_mat;
default: break;
}
break;
@ -97,7 +115,7 @@ convert_mat(CoordinateSystem from, CoordinateSystem to) {
linmath_cat.error()
<< "Invalid coordinate system value!\n";
return ident_mat();
return _ident_mat;
}
////////////////////////////////////////////////////////////////////

24
panda/src/linmath/lmatrix4_src.h
View File

@ -155,8 +155,8 @@ PUBLISHED:
INLINE_LINMATH static const FLOATNAME(LMatrix4) &y_to_z_up_mat();
INLINE_LINMATH static const FLOATNAME(LMatrix4) &z_to_y_up_mat();
static FLOATNAME(LMatrix4) convert_mat(CoordinateSystem from,
CoordinateSystem to);
static const FLOATNAME(LMatrix4) &convert_mat(CoordinateSystem from,
CoordinateSystem to);
bool almost_equal(const FLOATNAME(LMatrix4) &other,
FLOATTYPE threshold) const;
@ -171,14 +171,14 @@ public:
public:
union {
struct {
FLOATTYPE _00, _01, _02, _03;
FLOATTYPE _10, _11, _12, _13;
FLOATTYPE _20, _21, _22, _23;
FLOATTYPE _30, _31, _32, _33;
} m;
FLOATTYPE data[4 * 4];
struct {
FLOATTYPE _00, _01, _02, _03;
FLOATTYPE _10, _11, _12, _13;
FLOATTYPE _20, _21, _22, _23;
FLOATTYPE _30, _31, _32, _33;
} m;
FLOATTYPE data[4 * 4];
} _m;
private:
@ -189,6 +189,10 @@ private:
static const FLOATNAME(LMatrix4) _ident_mat;
static const FLOATNAME(LMatrix4) _y_to_z_up_mat;
static const FLOATNAME(LMatrix4) _z_to_y_up_mat;
static const FLOATNAME(LMatrix4) _flip_y_mat;
static const FLOATNAME(LMatrix4) _flip_z_mat;
static const FLOATNAME(LMatrix4) _lz_to_ry_mat;
static const FLOATNAME(LMatrix4) _ly_to_rz_mat;
//Functionality for reading and writing from/to a binary source
public:

34
panda/src/linmath/lquaternion_src.cxx
View File

@ -47,9 +47,9 @@ extract_to_matrix(FLOATNAME(LMatrix3) &m) const {
xx = _v.data[1] * xs; xy = _v.data[1] * ys; xz = _v.data[1] * zs;
yy = _v.data[2] * ys; yz = _v.data[2] * zs; zz = _v.data[3] * zs;
m = FLOATNAME(LMatrix3)((1. - (yy + zz)), (xy - wz), (xz + wy),
(xy + wz), (1. - (xx + zz)), (yz - wx),
(xz - wy), (yz + wx), (1. - (xx + yy)));
m.set((1. - (yy + zz)), (xy - wz), (xz + wy),
(xy + wz), (1. - (xx + zz)), (yz - wx),
(xz - wy), (yz + wx), (1. - (xx + yy)));
}
////////////////////////////////////////////////////////////////////
@ -68,10 +68,10 @@ extract_to_matrix(FLOATNAME(LMatrix4) &m) const {
xx = _v.data[1] * xs; xy = _v.data[1] * ys; xz = _v.data[1] * zs;
yy = _v.data[2] * ys; yz = _v.data[2] * zs; zz = _v.data[3] * zs;
m = FLOATNAME(LMatrix4)((1. - (yy + zz)), (xy - wz), (xz + wy), 0.,
(xy + wz), (1. - (xx + zz)), (yz - wx), 0.,
(xz - wy), (yz + wx), (1. - (xx + yy)), 0.,
0., 0., 0., 1.);
m.set((1. - (yy + zz)), (xy - wz), (xz + wy), 0.,
(xy + wz), (1. - (xx + zz)), (yz - wx), 0.,
(xz - wy), (yz + wx), (1. - (xx + yy)), 0.,
0., 0., 0., 1.);
}
////////////////////////////////////////////////////////////////////
@ -165,15 +165,17 @@ get_hpr() const {
////////////////////////////////////////////////////////////////////
void FLOATNAME(LQuaternion)::
set_from_matrix(const FLOATNAME(LMatrix3) &m) {
FLOATTYPE m00 = m(0, 0);
FLOATTYPE m01 = m(0, 1);
FLOATTYPE m02 = m(0, 2);
FLOATTYPE m10 = m(1, 0);
FLOATTYPE m11 = m(1, 1);
FLOATTYPE m12 = m(1, 2);
FLOATTYPE m20 = m(2, 0);
FLOATTYPE m21 = m(2, 1);
FLOATTYPE m22 = m(2, 2);
FLOATTYPE m00, m01, m02, m10, m11, m12, m20, m21, m22;
m00 = m(0, 0);
m01 = m(0, 1);
m02 = m(0, 2);
m10 = m(1, 0);
m11 = m(1, 1);
m12 = m(1, 2);
m20 = m(2, 0);
m21 = m(2, 1);
m22 = m(2, 2);
FLOATTYPE T = m00 + m11 + m22;

3
panda/src/vrpn/vrpnClient.cxx
View File

@ -42,6 +42,9 @@ VrpnClient::
VrpnClient(const string &server_name) :
_server_name(server_name)
{
// By convention, VRPN always uses a Y-up coordinate system.
set_coordinate_system(CS_yup_right);
if (vrpn_cat.is_debug()) {
vrpn_cat.debug()
<< "Attempting to connect to VRPN server " << _server_name