void vrpn_Sound_Server_Miles::changeListenerStatus(vrpn_ListenerDef listenerDef)
//change pose, etc for listener
{
if (provider != 0) {
vrpn_float32 uX = 0, uY = 1, uZ = 0;
// switch to left handed
listenerDef.pose.orientation[2] *= -1.0;
listenerDef.pose.orientation[3] *= -1.0;
listenerDef.pose.position[2] *= -1.0;
AIL_set_3D_position(listener, listenerDef.pose.position[0], listenerDef.pose.position[1], listenerDef.pose.position[2]);
// normalize
listenerDef.pose.orientation[0] /= listenerDef.pose.orientation[3];
listenerDef.pose.orientation[1] /= listenerDef.pose.orientation[3];
listenerDef.pose.orientation[2] /= listenerDef.pose.orientation[3];
listenerDef.pose.orientation[3] /= listenerDef.pose.orientation[3];
q_matrix_type mymatrix;
q_matrix_type multmatrix;
q_type facevec;
q_to_row_matrix(mymatrix, listenerDef.pose.orientation);
// 90 degree rotation about x
multmatrix[0][0] = 1;
multmatrix[0][1] = 0;
multmatrix[0][2] = 0;
multmatrix[0][3] = 0;
multmatrix[1][0] = 0;
multmatrix[1][1] = 0;
multmatrix[1][2] = -1;
multmatrix[1][3] = 0;
multmatrix[2][0] = 0;
multmatrix[2][1] = 1;
multmatrix[2][2] = 0;
multmatrix[2][3] = 0;
multmatrix[3][0] = 0;
multmatrix[3][1] = 0;
multmatrix[3][2] = 0;
multmatrix[3][3] = 1;
q_matrix_mult(mymatrix, mymatrix, multmatrix);
q_from_row_matrix(facevec, mymatrix);
AIL_set_3D_orientation(listener, listenerDef.pose.orientation[0], listenerDef.pose.orientation[1], listenerDef.pose.orientation[2], facevec[0], facevec[1], facevec[2]);
AIL_set_3D_velocity(listener, listenerDef.velocity[0], listenerDef.velocity[1], listenerDef.velocity[2], listenerDef.velocity[3]);
} else fprintf(stderr,"No provider has been set prior to changeListenerStatus\n");
}
void
q_xyz_quat_to_row_matrix(q_matrix_type rowMatrix, q_xyz_quat_type *xyzQuatPtr)
{
int i;
q_to_row_matrix(rowMatrix, xyzQuatPtr->quat);
for ( i = 0; i < 3; i++ )
rowMatrix[3][i] = xyzQuatPtr->xyz[i];
} /* q_xyz_quat_to_row_matrix */
