/** Some VRPN orientation sensors may be rotated differently than what we
* expect them to be (for example, orientation is correct except that
* the camera is pointing in the wrong direction). This function will
* adjust the orientation matrix so that the camera is pointing in the
* correct direction. */
static void viewmat_fix_rotation(float orient[16])
{
// Fix rotation for a hard-wired orientation sensor.
if(viewmat_control_mode == VIEWMAT_CONTROL_ORIENT)
{
float adjustLeft[16] = { 0, 1, 0, 0,
0, 0, 1, 0,
1, 0, 0, 0,
0, 0, 0, 1 };
mat4f_transpose(adjustLeft); // transpose to column-major order
float adjustRight[16] = { 0, 0, -1, 0,
-1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 0, 1 };
mat4f_transpose(adjustRight);
mat4f_mult_mat4f_new(orient, adjustLeft, orient);
mat4f_mult_mat4f_new(orient, orient, adjustRight);
return;
}
// Fix rotation for VRPN
if(viewmat_vrpn_obj == NULL || strlen(viewmat_vrpn_obj) == 0)
return;
char *hostname = vrpn_default_host();
if(hostname == NULL)
return;
/* Some objects in the IVS lab need to be rotated to match the
* orientation that we expect. Apply the fix here. */
if(vrpn_is_vicon(hostname)) // MTU vicon tracker
{
/* Note, orient has not been transposed/inverted yet. Doing
* orient*offset will effectively effectively be rotating the
* camera---not the world. */
if(strcmp(viewmat_vrpn_obj, "DK2") == 0)
{
float offsetVicon[16];
mat4f_identity(offsetVicon);
mat4f_rotateAxis_new(offsetVicon, 90, 1,0,0);
mat4f_mult_mat4f_new(orient, orient, offsetVicon);
}
if(strcmp(viewmat_vrpn_obj, "DSight") == 0)
{
float offsetVicon1[16];
mat4f_identity(offsetVicon1);
mat4f_rotateAxis_new(offsetVicon1, 90, 1,0,0);
float offsetVicon2[16];
mat4f_identity(offsetVicon2);
mat4f_rotateAxis_new(offsetVicon2, 180, 0,1,0);
// orient = orient * offsetVicon1 * offsetVicon2
mat4f_mult_mat4f_many(orient, orient, offsetVicon1, offsetVicon2, NULL);
}
}
}
/** 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
}
