// ================================================
// OnPacketReceived(CigiBasePacket *Packet)
// vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv
void PositionRequestP::OnPacketReceived(CigiBasePacket *Packet)
{
CigiPositionReqV3 *pr = (CigiPositionReqV3 *)(Packet);
if( !trackerParamsMap ) return;
if( pr->GetObjectClass() != CigiBasePositionReq::MotionTracker )
return;
int trackerID = pr->GetObjectID();
std::map< int, TrackerParams * >::iterator tpIter =
trackerParamsMap->find( trackerID );
if( tpIter == trackerParamsMap->end() )
{
std::cout << "Warning: Host requested position for unknown motion tracker #"
<< trackerID << std::endl;
return;
}
TrackerParams *trackerParams = (*tpIter).second;
switch( pr->GetUpdateMode() )
{
case CigiBasePositionReq::Continuous:
trackerParams->positionRequestStatus = TrackerParams::PositionReqContinuous;
break;
case CigiBasePositionReq::OneShot:
default:
trackerParams->positionRequestStatus = TrackerParams::PositionReqOneShot;
break;
}
}
// ================================================
// ProcPositionReq
// vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv
void Entity::ProcPositionReq( CigiPositionReqV3 &Packet, CigiOutgoingMsg &Omsg )
{
bool Valid = false;
CigiPositionRespV3 Resp;
if( Packet.GetObjectClass() == CigiBasePositionReq::Entity )
{
Resp.SetObjectID( Packet.GetObjectID(), false );
Resp.SetArtPartID( Packet.GetArtPartID(), false );
Resp.SetObjectClass(
( CigiBasePositionResp::ObjectClassGrp )Packet.GetObjectClass(),
false );
Resp.SetCoordSys(
( CigiBasePositionResp::CoordSysGrp )Packet.GetCoordSys(),
false );
if( Packet.GetCoordSys() == CigiBasePositionReq::Geodetic )
{
if( !IsChild )
{
Resp.SetLatOrXoff( CigiPos.LatX, false );
Resp.SetLonOrYoff( CigiPos.LonY, false );
Resp.SetAltOrZoff( CigiPos.AltZ, false );
Resp.SetYaw(( float )CigiPos.Yaw, false );
Resp.SetPitch(( float )CigiPos.Pitch, false );
Resp.SetRoll(( float )CigiPos.Roll, false );
Valid = true;
}
// If a geodetic coord position request for a child entity
// is received, the entity manager will process it
// because the manager will have to go through all the
// parents and develop a complete transformation
// matrix.
}
else if( Packet.GetCoordSys() == CigiBasePositionReq::ParentEntity )
{
if( IsChild )
{
Resp.SetLatOrXoff( CigiPos.LatX, false );
Resp.SetLonOrYoff( CigiPos.LonY, false );
Resp.SetAltOrZoff( CigiPos.AltZ, false );
Resp.SetYaw(( float )CigiPos.Yaw, false );
Resp.SetPitch(( float )CigiPos.Pitch, false );
Resp.SetRoll(( float )CigiPos.Roll, false );
Valid = true;
}
}
}
else if( Packet.GetCoordSys() == CigiBasePositionReq::Submodel ) // Articulated part
{
// Only respond to Submodel coordinate system requests for
// an articulated response
ProcArtPartPositionReq( Packet, Omsg );
}
if( Valid )
Omsg << Resp;
}
void XPositionReqV3::OnPacketReceived(CigiBasePacket *Packet)
{
CigiPositionReqV3 *InPckt = (CigiPositionReqV3 *)Packet;
bool ok = true;
printf("Position Request\n");
printf("\tObject ID = %d\n",InPckt->GetObjectID());
printf("\tArticulated Part ID = %d\n",InPckt->GetArtPartID());
printf("\tUpdate Mode = %d : ",InPckt->GetUpdateMode());
switch(InPckt->GetUpdateMode())
{
case 0:
printf("OneShot\n");
break;
case 1:
printf("Continuous\n");
break;
default:
printf("\n");
break;
}
printf("\tObject Class = %d : ",InPckt->GetObjectClass());
switch(InPckt->GetObjectClass())
{
case 0:
printf("Entity\n");
break;
case 1:
printf("ArtPart\n");
break;
case 2:
printf("View\n");
break;
case 3:
printf("ViewGrp\n");
break;
case 4:
printf("MotionTracker\n");
break;
default:
printf("\n");
break;
}
printf("\tCoordinate System = %d : ",InPckt->GetCoordSys());
switch(InPckt->GetCoordSys())
{
case 0:
printf("Geodetic\n");
break;
case 1:
printf("ParentEntity\n");
break;
case 2:
printf("Submodel\n");
break;
default:
printf("\n");
break;
}
}
