void update(int value)
{ optotrak.updatePoints();
markers = optotrak.getAllPoints();
headEyeCoords.update(markers[1],markers[2],markers[3]);
modelCoordinates.update(markers[10],markers[19],markers[20]);
if ( isVisible(markers[20]+markers[19]+markers[10]) )
{
rigidCurrent.setRigidBody(markers[20], markers[19],modelCoordinates.getFinger() );
rigidAux.computeTransformation(rigidCurrent,true); // true the scaling matrix
}
eyeLeft = headEyeCoords.getLeftEye();
eyeRight = headEyeCoords.getRightEye();
glutPostRedisplay();
glutTimerFunc(TIMER_MS, update, 0);
}
void drawInfo()
{
markers = optotrak.getAllPoints();
if ( headCalibrationDone==0 )
{
allVisibleHead = isVisible(markers[17]) && isVisible(markers[18]) && isVisible(markers[1]) && isVisible(markers[2]) && isVisible(markers[3]) ;
allVisibleModel = (markers[10]+markers[14]+markers[19]+markers[20]).norm() < 1E20;
if ( allVisibleHead )
glClearColor(0.0,1.0,0.0,1.0); //green light
else
glClearColor(1.0,0.0,0.0,1.0); //red light
}
GLText text;
text.init(SCREEN_WIDTH,SCREEN_HEIGHT,glWhite,GLUT_BITMAP_HELVETICA_18);
text.enterTextInputMode();
text.draw("Head is visible? " + stringify<int>(allVisibleHead));
text.draw("Full model is visible? " + stringify<bool>(allVisibleModel));
text.draw( stringify<double>((markers[14]-modelCoordinates.getFinger()).norm()));
text.leaveTextInputMode();
}
