Panda3D

trackerNode.h

00001 // Filename: trackerNode.h
00002 // Created by:  drose (12Mar02)
00003 //
00004 ////////////////////////////////////////////////////////////////////
00005 //
00006 // PANDA 3D SOFTWARE
00007 // Copyright (c) Carnegie Mellon University.  All rights reserved.
00008 //
00009 // All use of this software is subject to the terms of the revised BSD
00010 // license.  You should have received a copy of this license along
00011 // with this source code in a file named "LICENSE."
00012 //
00013 ////////////////////////////////////////////////////////////////////
00014 
00015 #ifndef TRACKERNODE_H
00016 #define TRACKERNODE_H
00017 
00018 #include "pandabase.h"
00019 
00020 #include "clientBase.h"
00021 #include "trackerData.h"
00022 #include "clientTrackerDevice.h"
00023 #include "dataNode.h"
00024 #include "luse.h"
00025 #include "linmath_events.h"
00026 #include "pointerTo.h"
00027 
00028 ////////////////////////////////////////////////////////////////////
00029 //       Class : TrackerNode
00030 // Description : This is the primary interface to a Tracker object
00031 //               associated with a ClientBase.  It reads the position
00032 //               and orientation information from the tracker and
00033 //               makes it available as a transformation on the data
00034 //               graph.
00035 ////////////////////////////////////////////////////////////////////
00036 class EXPCL_PANDA_DEVICE TrackerNode : public DataNode {
00037 PUBLISHED:
00038   TrackerNode(ClientBase *client, const string &device_name);
00039   virtual ~TrackerNode();
00040 
00041   INLINE bool is_valid() const;
00042 
00043   INLINE const LPoint3 &get_pos() const;
00044   INLINE const LOrientation &get_orient() const;
00045   INLINE const LMatrix4 &get_transform() const;
00046   INLINE double get_time() const;
00047   INLINE bool has_time() const;
00048 
00049   INLINE void set_tracker_coordinate_system(CoordinateSystem cs);
00050   INLINE CoordinateSystem get_tracker_coordinate_system() const;
00051 
00052   INLINE void set_graph_coordinate_system(CoordinateSystem cs);
00053   INLINE CoordinateSystem get_graph_coordinate_system() const;
00054 
00055 protected:
00056   // Inherited from DataNode
00057   virtual void do_transmit_data(DataGraphTraverser *trav,
00058                                 const DataNodeTransmit &input,
00059                                 DataNodeTransmit &output);
00060 
00061 private:
00062   // outputs
00063   int _transform_output;
00064 
00065   CPT(TransformState) _transform;
00066 
00067 private:
00068   PT(ClientTrackerDevice) _tracker;
00069   TrackerData _data;
00070   LMatrix4 _mat;
00071   CoordinateSystem _tracker_cs, _graph_cs;
00072 
00073 public:
00074   static TypeHandle get_class_type() {
00075     return _type_handle;
00076   }
00077   static void init_type() {
00078     DataNode::init_type();
00079     register_type(_type_handle, "TrackerNode",
00080                   DataNode::get_class_type());
00081   }
00082   virtual TypeHandle get_type() const {
00083     return get_class_type();
00084   }
00085   virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
00086 
00087 private:
00088   static TypeHandle _type_handle;
00089 };
00090 
00091 #include "trackerNode.I"
00092 
00093 #endif
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