bool IntersenseAPIStandalone::updateData()
{
if (FALSE != ISD_GetData(mHandle, &mData))
{
return true;
}
return false;
}
const bool ISTracker::getData(float &rotX, float &rotY, float &rotZ)
{
ISD_GetData(handle, &data);
// ISD_GetCameraData( handle, &cameraData );
if (ISD_GetCommInfo(handle, &Tracker))
{
rotX = data.Station[0].Orientation[0];
rotY = data.Station[0].Orientation[1];
rotZ = data.Station[0].Orientation[2];
}
return true;
}
void
ISenseDirect::pollForInput(Array<EventRef> &events)
{
ISD_TRACKER_DATA_TYPE trackerData;
ISD_GetData( _handle, &trackerData );
for (int s=0;s<_maxStations;s++) {
ISD_STATION_STATE_TYPE *data = &trackerData.Station[s];
Vector3 trans = Vector3(data->Position[0], data->Position[1], data->Position[2]);
//printf("%6.2f %6.2f %6.2f ",
// data->Position[0], data->Position[1], data->Position[2]);
CoordinateFrame trackerToDevice;
if ( _stationInfo[s].AngleFormat == ISD_QUATERNION ) {
//printf("%5.2f %5.2f %5.2f %5.2f ", data->Orientation[0],
// data->Orientation[1], data->Orientation[2], data->Orientation[3]);
Matrix3 rot = Matrix3(Quat(data->Orientation[0], data->Orientation[1],
data->Orientation[2], data->Orientation[3]));
trackerToDevice = CoordinateFrame(rot, trans);
}
else { // Euler angles
//printf("%7.2f %7.2f %7.2f ",
// data->Orientation[0], data->Orientation[1], data->Orientation[2]);
Matrix3 rotY = Matrix3::fromAxisAngle(Vector3(0,1,0), toRadians(data->Orientation[1]));
Matrix3 rotX = Matrix3::fromAxisAngle(Vector3(1,0,0), toRadians(data->Orientation[0]));
Matrix3 rotZ = Matrix3::fromAxisAngle(Vector3(0,0,1), toRadians(data->Orientation[2]));
trackerToDevice = trans * rotY * rotX * rotZ;
}
trackerToDevice.translation *= _trackerUnitsToRoomUnitsScale;
CoordinateFrame eventRoom = _finalOffset[s] * _deviceToRoom *
trackerToDevice * _propToTracker[s];
events.append(new Event(getTrackerName(s), eventRoom));
/*printf("%d%d%d%d%d ",
(int) data->ButtonState[0],
(int) data->ButtonState[1],
(int) data->ButtonState[2],
(int) data->ButtonState[3],
(int) data->ButtonState[4]);
*/
for (int i=0;i<ISD_MAX_BUTTONS;i++) {
if (data->ButtonState[i] != _btnStatus[s][i]) {
_btnStatus[s][i] = !_btnStatus[s][i];
if (_btnStatus[s][i]) {
events.append(new Event(getButtonName(s, i) + "_down"));
}
else {
events.append(new Event(getButtonName(s, i) + "_up"));
}
}
}
// TODO: deal with analogs..
//printf("%d %d ", data->AnalogData[0], data->AnalogData[1]);
}
}
