106 lines
3.8 KiB
C++
106 lines
3.8 KiB
C++
// Filename: trackerNode.cxx
|
|
// Created by: drose (12Mar02)
|
|
//
|
|
////////////////////////////////////////////////////////////////////
|
|
//
|
|
// PANDA 3D SOFTWARE
|
|
// Copyright (c) 2001 - 2004, Disney Enterprises, Inc. All rights reserved
|
|
//
|
|
// All use of this software is subject to the terms of the Panda 3d
|
|
// Software license. You should have received a copy of this license
|
|
// along with this source code; you will also find a current copy of
|
|
// the license at http://etc.cmu.edu/panda3d/docs/license/ .
|
|
//
|
|
// To contact the maintainers of this program write to
|
|
// panda3d-general@lists.sourceforge.net .
|
|
//
|
|
////////////////////////////////////////////////////////////////////
|
|
|
|
#include "trackerNode.h"
|
|
#include "config_device.h"
|
|
|
|
TypeHandle TrackerNode::_type_handle;
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: TrackerNode::Constructor
|
|
// Access: Public
|
|
// Description:
|
|
////////////////////////////////////////////////////////////////////
|
|
TrackerNode::
|
|
TrackerNode(ClientBase *client, const string &device_name) :
|
|
DataNode(device_name)
|
|
{
|
|
_transform_output = define_output("transform", TransformState::get_class_type());
|
|
|
|
_transform = TransformState::make_identity();
|
|
|
|
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);
|
|
|
|
if (device == (ClientDevice *)NULL) {
|
|
device_cat.warning()
|
|
<< "Unable to open tracker device " << device_name << "\n";
|
|
return;
|
|
}
|
|
|
|
if (!device->is_of_type(ClientTrackerDevice::get_class_type())) {
|
|
device_cat.error()
|
|
<< "Inappropriate device type " << device->get_type()
|
|
<< " created; expected a ClientTrackerDevice.\n";
|
|
return;
|
|
}
|
|
|
|
_tracker = DCAST(ClientTrackerDevice, device);
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: TrackerNode::Destructor
|
|
// Access: Public, Virtual
|
|
// Description:
|
|
////////////////////////////////////////////////////////////////////
|
|
TrackerNode::
|
|
~TrackerNode() {
|
|
// When the _tracker pointer destructs, the ClientTrackerDevice
|
|
// disconnects itself from the ClientBase, and everything that needs
|
|
// to get turned off does. Magic.
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: TrackerNode::do_transmit_data
|
|
// Access: Protected, Virtual
|
|
// Description: The virtual implementation of transmit_data(). This
|
|
// function receives an array of input parameters and
|
|
// should generate an array of output parameters. The
|
|
// input parameters may be accessed with the index
|
|
// numbers returned by the define_input() calls that
|
|
// were made earlier (presumably in the constructor);
|
|
// likewise, the output parameters should be set with
|
|
// the index numbers returned by the define_output()
|
|
// calls.
|
|
////////////////////////////////////////////////////////////////////
|
|
void TrackerNode::
|
|
do_transmit_data(const DataNodeTransmit &, DataNodeTransmit &output) {
|
|
if (is_valid()) {
|
|
_tracker->poll();
|
|
_tracker->lock();
|
|
_data = _tracker->get_data();
|
|
_tracker->unlock();
|
|
|
|
_data.get_orient().extract_to_matrix(_mat);
|
|
if (_tracker_cs != _graph_cs) {
|
|
// Convert the rotation for passing down the data graph.
|
|
_mat = _mat * LMatrix4f::convert_mat(_tracker_cs, _graph_cs);
|
|
}
|
|
_mat.set_row(3, _data.get_pos());
|
|
|
|
// Now send our matrix down the pipe. TODO: store this
|
|
// componentwise instead of just as a matrix-based transform.
|
|
_transform = TransformState::make_mat(_mat);
|
|
output.set_data(_transform_output, EventParameter(_transform));
|
|
}
|
|
}
|