/*
* Class: visad_java3d_TrackdJNI
* Method: get_trackd_c
* Signature: ([I[F[F[F[I[I)V
*/
JNIEXPORT void JNICALL Java_visad_java3d_TrackdJNI_get_1trackd_1c
(JNIEnv *env, jobject obj, jintArray number_of_sensors_j,
jfloatArray sensor_positions_j, jfloatArray sensor_angles_j,
jfloatArray sensor_matrices_j, jintArray number_of_buttons_j,
jintArray button_states_j) {
int ns, nb, is, ib, i, j, k;
float pos[3];
float mat[4][4];
jint *number_of_sensors =
(*env)->GetIntArrayElements(env, number_of_sensors_j, 0);
jfloat *sensor_positions =
(*env)->GetFloatArrayElements(env, sensor_positions_j, 0);
jfloat *sensor_angles =
(*env)->GetFloatArrayElements(env, sensor_angles_j, 0);
jfloat *sensor_matrices =
(*env)->GetFloatArrayElements(env, sensor_matrices_j, 0);
jint *number_of_buttons =
(*env)->GetIntArrayElements(env, number_of_buttons_j, 0);
jint *button_states =
(*env)->GetIntArrayElements(env, button_states_j, 0);
ns = trackdGetNumberOfSensors(tracker);
if (ns > number_of_sensors[0]) ns = number_of_sensors[0];
number_of_sensors[0] = ns;
for (is=0; is<ns; is++) {
trackdGetPosition(tracker, is, pos);
sensor_positions[3*is] = pos[0];
sensor_positions[3*is+1] = pos[1];
sensor_positions[3*is+2] = pos[2];
trackdGetEulerAngles(tracker, is, pos);
sensor_angles[3*is] = pos[0];
sensor_angles[3*is+1] = pos[1];
sensor_angles[3*is+2] = pos[2];
trackdGetMatrix(tracker, is, mat);
k = 0;
for (i=0; i<4; i++) {
for (j=0; j<4; j++) {
sensor_matrices[16*is+k] = mat[i][j];
k++;
}
}
}
nb = trackdGetNumberOfButtons(controller);
if (nb > number_of_buttons[0]) nb = number_of_buttons[0];
number_of_buttons[0] = nb;
for (ib=0; ib<nb; ib++) {
button_states[ib] = trackdGetButton(controller, ib);
}
(*env)->ReleaseIntArrayElements(env, number_of_sensors_j, number_of_sensors, 0);
(*env)->ReleaseFloatArrayElements(env, sensor_positions_j, sensor_positions, 0);
(*env)->ReleaseFloatArrayElements(env, sensor_angles_j, sensor_angles, 0);
(*env)->ReleaseFloatArrayElements(env, sensor_matrices_j, sensor_matrices, 0);
(*env)->ReleaseIntArrayElements(env, number_of_buttons_j, number_of_buttons, 0);
(*env)->ReleaseIntArrayElements(env, button_states_j, button_states, 0);
}
void
TrackDClient::pollForInput(Array<EventRef> &events)
{
// Update trackers
for (int i=0;i<iMin(_numSensors, _tEventNames.size());i++) {
float tracker[6];
trackdGetPosition(_trackerMemory, i, &(tracker[0]));
trackdGetEulerAngles(_trackerMemory, i, &(tracker[3]));
Vector3 trans(tracker[0], tracker[1], tracker[2]);
Matrix3 rotY = Matrix3::fromAxisAngle(Vector3(0,1,0), toRadians(tracker[4]));
Matrix3 rotX = Matrix3::fromAxisAngle(Vector3(1,0,0), toRadians(tracker[3]));
Matrix3 rotZ = Matrix3::fromAxisAngle(Vector3(0,0,1), toRadians(tracker[5]));
CoordinateFrame trackerToDevice = CoordinateFrame(trans) *
CoordinateFrame(rotY) *
CoordinateFrame(rotX) *
CoordinateFrame(rotZ);
trackerToDevice.translation *= _trackerUnitsToRoomUnitsScale;
/** This is probably more direct, but can't test it right now..
float mat[4][4];
trackdGetMatrix(_trackerMemory, i, mat);
CoordinateFrame trackerToDevice = CoordinateFrame(Matrix3(mat[0][0], mat[1][1], mat[2][2],
mat[0][1], mat[1][1], mat[2][1],
mat[0][2], mat[1][2], mat[2][2]),
Vector3(mat[0][3], mat[1][3], mat[2][3]));
**/
CoordinateFrame eventRoom = _finalOffset[i] * _deviceToRoom *
trackerToDevice * _propToTracker[i];
events.append(new Event(getTrackerName(i), eventRoom));
}
// Update buttons
for (int i=0;i<iMin(_numButtons, _bEventNames.size());i++) {
int b = trackdGetButton(_wandMemory, i);
if (b != _buttonStates[i]) {
_buttonStates[i] = b;
std::string name = getButtonName(i);
if (b) {
name = name + "_down";
}
else {
name = name + "_up";
}
events.append(new Event(name));
}
}
/**
// Update valuators
for (int i=0;i<_numValuators;i++) {
float v = trackdGetValuator(_wandMemory, i);
if (v != _valuatorStates[i]) {
_valuatorStates[i] = v;
events.append(new Event(getValuatorName(i), v));
}
}
**/
}
