104 lines
3.6 KiB
C++
104 lines
3.6 KiB
C++
// Filename: trackerNode.cxx
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// Created by: drose (12Mar02)
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//
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////////////////////////////////////////////////////////////////////
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//
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// PANDA 3D SOFTWARE
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// Copyright (c) Carnegie Mellon University. All rights reserved.
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//
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// All use of this software is subject to the terms of the revised BSD
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// license. You should have received a copy of this license along
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// with this source code in a file named "LICENSE."
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//
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////////////////////////////////////////////////////////////////////
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#include "trackerNode.h"
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#include "config_device.h"
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#include "dataNodeTransmit.h"
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TypeHandle TrackerNode::_type_handle;
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////////////////////////////////////////////////////////////////////
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// Function: TrackerNode::Constructor
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// Access: Public
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// Description:
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////////////////////////////////////////////////////////////////////
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TrackerNode::
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TrackerNode(ClientBase *client, const string &device_name) :
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DataNode(device_name)
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{
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_transform_output = define_output("transform", TransformState::get_class_type());
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_transform = TransformState::make_identity();
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nassertv(client != (ClientBase *)NULL);
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set_tracker_coordinate_system(client->get_coordinate_system());
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set_graph_coordinate_system(CS_default);
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PT(ClientDevice) device =
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client->get_device(ClientTrackerDevice::get_class_type(), device_name);
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if (device == (ClientDevice *)NULL) {
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device_cat.warning()
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<< "Unable to open tracker device " << device_name << "\n";
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return;
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}
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if (!device->is_of_type(ClientTrackerDevice::get_class_type())) {
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device_cat.error()
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<< "Inappropriate device type " << device->get_type()
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<< " created; expected a ClientTrackerDevice.\n";
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return;
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}
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_tracker = DCAST(ClientTrackerDevice, device);
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}
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////////////////////////////////////////////////////////////////////
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// Function: TrackerNode::Destructor
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// Access: Public, Virtual
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// Description:
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////////////////////////////////////////////////////////////////////
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TrackerNode::
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~TrackerNode() {
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// When the _tracker pointer destructs, the ClientTrackerDevice
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// disconnects itself from the ClientBase, and everything that needs
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// to get turned off does. Magic.
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}
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////////////////////////////////////////////////////////////////////
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// Function: TrackerNode::do_transmit_data
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// Access: Protected, Virtual
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// Description: The virtual implementation of transmit_data(). This
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// function receives an array of input parameters and
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// should generate an array of output parameters. The
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// input parameters may be accessed with the index
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// numbers returned by the define_input() calls that
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// were made earlier (presumably in the constructor);
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// likewise, the output parameters should be set with
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// the index numbers returned by the define_output()
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// calls.
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////////////////////////////////////////////////////////////////////
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void TrackerNode::
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do_transmit_data(DataGraphTraverser *, const DataNodeTransmit &,
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DataNodeTransmit &output) {
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if (is_valid()) {
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_tracker->poll();
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_tracker->acquire();
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_data = _tracker->get_data();
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_tracker->unlock();
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_data.get_orient().extract_to_matrix(_mat);
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if (_tracker_cs != _graph_cs) {
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// Convert the rotation for passing down the data graph.
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_mat = _mat * LMatrix4::convert_mat(_tracker_cs, _graph_cs);
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}
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_mat.set_row(3, _data.get_pos());
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// Now send our matrix down the pipe. TODO: store this
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// componentwise instead of just as a matrix-based transform.
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_transform = TransformState::make_mat(_mat);
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output.set_data(_transform_output, EventParameter(_transform));
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}
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}
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