/** A callback function that will get called whenever the tracker
* provides us with new data. This may be called repeatedly for each
* record that we have missed if many records have been delivered
* since the last call to the VRPN mainloop() function. */
static void VRPN_CALLBACK handle_tracker(void *name, vrpn_TRACKERCB t)
{
float fps = kuhl_getfps(&fps_state);
if(fps_state.frame == 0)
msg(INFO, "VRPN records per second: %.1f\n", fps);
/* Some tracking systems return large values when a point gets
* lost. If the tracked point seems to be lost, ignore this
* update. */
float pos[3];
vec3f_set(pos, t.pos[0], t.pos[1], t.pos[2]);
long microseconds = (t.msg_time.tv_sec* 1000000L) + t.msg_time.tv_usec;
if(0)
{
printf("Current time %ld; VRPN record time: %ld\n", kuhl_microseconds(), microseconds);
printf("Received position from vrpn: ");
vec3f_print(pos);
}
if(vec3f_norm(pos) > 100)
return;
// Store the data in our map so that someone can use it later.
std::string s = (char*)name;
nameToCallbackData[s] = t;
smooth(nameToCallbackData[s]);
}
/** Draw a object at the location and orientation of the tracked vrpn object */
void drawObject(const int objectIndex, float viewMat[16])
{
const char *vrpnObject = global_argv[objectIndex];
const float scaleFactor = .5;
float pos[4], orient[16];
vrpn_get(vrpnObject, NULL, pos, orient);
float modelMat[16],translate[16],scale[16];
mat4f_scale_new(scale, scaleFactor, scaleFactor, scaleFactor);
mat4f_translateVec_new(translate, pos);
mat4f_mult_mat4f_many(modelMat, translate, orient, scale, NULL);
float modelview[16];
mat4f_mult_mat4f_new(modelview, viewMat, modelMat); // modelview = view * model
/* Send the modelview matrix to the vertex program. */
glUniformMatrix4fv(kuhl_get_uniform("ModelView"),
1, // number of 4x4 float matrices
0, // transpose
modelview); // value
glUniform1i(kuhl_get_uniform("renderStyle"), 2);
kuhl_errorcheck();
kuhl_geometry_draw(modelgeom); /* Draw the model */
kuhl_errorcheck();
/* Transparency of labels may not appear right because we aren't
* sorting them by depth. */
float labelScale[16];
mat4f_scale_new(labelScale, 1, 1/labelAspectRatio[objectIndex-1], 1);
mat4f_mult_mat4f_new(modelview, modelview, labelScale);
glUniformMatrix4fv(kuhl_get_uniform("ModelView"), 1, 0, modelview);
glUniform1i(kuhl_get_uniform("renderStyle"), 1);
kuhl_geometry_texture(&quad, label[objectIndex-1], "tex", 1);
kuhl_geometry_draw(&quad);
#if 0
printf("%s is at\n", vrpnObject);
vec3f_print(pos);
mat4f_print(orient);
#endif
}
