void
fruitapp::cursor::sampler::react(
fruitlib::scenic::events::update const &)
{
if(
!sge::timer::reset_when_expired(
update_timer_))
return;
fcppt::optional::maybe_void(
cursor_.position(),
[
this
](
sge::input::cursor::position const _position
)
{
positions_.push_back(
transform_position(
_position,
target_.viewport().get()));
if(positions_.size() > sample_count_.get())
positions_.pop_front();
}
);
}
void get_tracker_point(const onit_point *P, int i, float p[3])
{
float t[3];
// Convert from millimeters to feet.
t[0] = P[i].world_p[0] * 0.00328084;
t[1] = P[i].world_p[1] * 0.00328084;
t[2] = P[i].world_p[2] * 0.00328084;
// Apply the configuration transformation.
transform_position(p, t, 0);
}
int get_tracker_sensor(unsigned int id, float p[3], float R[16])
{
static float last_p[ 3];
static float last_R[16];
/* Check for an active tracker. */
if (tracker != (struct tracker_header *) (-1))
{
if (id < tracker->count)
{
/* Return the rotation and orientation of sensor ID. */
struct sensor *S =
(struct sensor *)((unsigned char *) tracker
+ tracker->offset
+ tracker->size * id);
transform_rotation(R, S->r, id);
transform_position(p, S->p, id);
return 1;
}
}
/* Recieve messages on the tracker socket. Return the most recent. */
if (id == 0 && sock != INVALID_SOCKET)
{
struct message mesg;
struct timeval zero = { 0, 0 };
int count = 0;
fd_set fds;
FD_ZERO(&fds);
FD_SET(sock, &fds);
while (select(sock + 1, &fds, NULL, NULL, &zero) > 0)
{
if (FD_ISSET(sock, &fds))
{
int s = recv(sock, (void *) &mesg, sizeof (struct message), 0);
if ((s >= 3 * sizeof (float)))
{
float q[3];
/*
q[0] = net_to_host_float(mesg.x);
q[1] = net_to_host_float(mesg.y);
q[2] = net_to_host_float(mesg.z);
*/
q[0] = mesg.x;
q[1] = mesg.y;
q[2] = -mesg.z;
transform_position(p, q, id);
q[1] += 3.0;
printf("%+8.3f %+8.3f %+8.3f ", q[0], q[1], q[2]);
printf("%+8.3f %+8.3f %+8.3f\n", p[0], p[1], p[2]);
memcpy(last_p, p, 3 * sizeof (float));
}
if ((s >= 6 * sizeof (float)))
{
/*
float q[3];
q[0] = net_to_host_float(mesg.rx);
q[1] = net_to_host_float(mesg.ry);
q[2] = net_to_host_float(mesg.rz);
*/
/*
q[0] = mesg.rx;
q[1] = mesg.ry;
q[2] = mesg.rz;
transform_rotation(R, q, id);
*/
load_idt(R);
memcpy(last_R, R, 16 * sizeof (float));
}
}
count++;
FD_ZERO(&fds);
FD_SET(sock, &fds);
}
if (count) return 1;
}
memcpy(p, last_p, 3 * sizeof (float));
memcpy(R, last_R, 16 * sizeof (float));
return 0;
}
