/*
* 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);
}
TrackDClient::TrackDClient(
int trackerShMemKey,
int wandShMemKey,
const Array<std::string> &trackerEventsToGenerate,
const double &trackerUnitsToRoomUnitsScale,
const CoordinateFrame &deviceToRoom,
const Array<CoordinateFrame> &propToTracker,
const Array<CoordinateFrame> &finalOffset,
const Array<std::string> &buttonEventsToGenerate,
const Array<std::string> &valuatorEventsToGenerate)
{
_tEventNames = trackerEventsToGenerate;
_trackerUnitsToRoomUnitsScale = trackerUnitsToRoomUnitsScale;
_deviceToRoom = deviceToRoom;
_propToTracker = propToTracker;
_finalOffset = finalOffset;
_bEventNames = buttonEventsToGenerate;
_vEventNames = valuatorEventsToGenerate;
_trackerMemory = trackdInitTrackerReader(trackerShMemKey);
if (_trackerMemory == NULL) {
cerr << "TrackDClient:: Could not initialize tracker reader." << endl;
exit(1);
}
_wandMemory = trackdInitControllerReader(wandShMemKey);
if (_wandMemory == NULL) {
cerr << "TrackDClient:: Could not initialize wand reader." << endl;
exit(1);
}
_numSensors = trackdGetNumberOfSensors(_trackerMemory);
_numButtons = trackdGetNumberOfButtons(_wandMemory);
for (int i=0;i<_numButtons;i++) {
_buttonStates.append(0);
}
_numValuators = trackdGetNumberOfValuators(_wandMemory);
for (int i=0;i<_numValuators;i++) {
_valuatorStates.append(0.0);
}
}
