114 lines
3.1 KiB
C++
114 lines
3.1 KiB
C++
/**
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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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* @file trackerNode.cxx
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* @author drose
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* @date 2002-03-12
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*/
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#include "trackerNode.h"
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#include "config_device.h"
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#include "clientTrackerDevice.h"
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#include "dataNodeTransmit.h"
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TypeHandle TrackerNode::_type_handle;
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/**
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*
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*/
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TrackerNode::
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TrackerNode(ClientBase *client, const std::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 != nullptr);
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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 == nullptr) {
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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 = device;
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}
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/**
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*
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*/
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TrackerNode::
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TrackerNode(InputDevice *device) :
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DataNode(device->get_name()),
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_tracker(device)
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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(device != nullptr);
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nassertv(device->has_tracker());
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//TODO: get coordinate system from tracker object?
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set_tracker_coordinate_system(CS_default);
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set_graph_coordinate_system(CS_default);
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}
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/**
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*
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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 disconnects
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// itself from the ClientBase, and everything that needs to get turned off
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// does. Magic.
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}
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/**
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* The virtual implementation of transmit_data(). This function receives an
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* array of input parameters and should generate an array of output
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* parameters. The input parameters may be accessed with the index numbers
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* returned by the define_input() calls that were made earlier (presumably in
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* the constructor); likewise, the output parameters should be set with the
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* index numbers returned by the define_output() 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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_data = _tracker->get_tracker();
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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 componentwise
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// 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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