/*
* $RCSfile: LogitechTracker.java,v $
*
* Copyright 1996-2007 Sun Microsystems, Inc. All Rights Reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
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*
* - Redistribution of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
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* - Redistribution in binary form must reproduce the above copyright
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* the documentation and/or other materials provided with the
* distribution.
*
* Neither the name of Sun Microsystems, Inc. or the names of
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* This software is provided "AS IS," without a warranty of any
* kind. ALL EXPRESS OR IMPLIED CONDITIONS, REPRESENTATIONS AND
* WARRANTIES, INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE OR NON-INFRINGEMENT, ARE HEREBY
* EXCLUDED. SUN MICROSYSTEMS, INC. ("SUN") AND ITS LICENSORS SHALL
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* REGARDLESS OF THE THEORY OF LIABILITY, ARISING OUT OF THE USE OF OR
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*
* You acknowledge that this software is not designed, licensed or
* intended for use in the design, construction, operation or
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*
* $Revision: 1.1 $
* $Date: 2007/09/25 20:01:19 $
* $State: Exp $
*/
package com.sun.j3d.utils.trackers;
import java.lang.String;
import javax.vecmath.*;
import javax.media.j3d.*;
// Note the following is necessary only for the sleep calls.
import java.lang.Thread;
/**
* NOTE: this class is very much out of date. It is using deprecated
* and unimplemented 1.1 API constants (POLLED and STREAMING) that are
* now gone in 1.2. The offending lines have been commented out
* and marked with an "OBSOLETE:" comment.
*<p>
*
* The LogitechTracker Class defines the code to make a logitech input
* device work correclty
*
* @version 1.11, 99/09/15 13:47:17
* @author Henry Sowizral
*/
public class LogitechTracker extends Tracker {
// This device's slave filename
String slaveFilename;
// Current Sensor Read (last one we generated)
SensorRead currentRead;
// Next SensorRead (the one we're now generating)
SensorRead nextRead;
// The current sensor
int currentSensor = 0;
// Holds a sensor's Euler Angles
Vector3d deviceEulerAngles = new Vector3d();
// Holds the sensor's current Position
Vector3d deviceTranslateValues = new Vector3d();
// The number of sensors associated with this device.
static final int SensorCount = 8;
// The number of buttons associated with this device.
static final int ButtonCount = 5;
// The initial position and orientation
Transform3D initialPosOrient = new Transform3D();
static float PositionOrientation[] = new float[6];
static int ButtonArray[] = new int[1];
/**
* Construct a new LogitechTracker
* @param view the view object
* @paran deviceFilename the Logitech's devide name
* @param mode the mode of access one of POLLED or STREAMING
* @param sensorCount the number of sensors associated with this logitech
* @param buttonCount the number of buttons associated with each sensor
*/
public LogitechTracker(View view, String deviceFilename, int mode,
int sensorCount, int buttonCount) {
this.super(view, deviceFilename, mode, sensorCount, buttonCount);
}
/**
* Construct a new LogitechTracker with a hand tracker
* @param view the view object
* @param masterFilename the Logitech's master port device name
* @paran slaveFilename the Logitech's slave port device name
* @param mode the mode of access one of POLLED or STREAMING
* @param sensorCount the number of sensors associated with this logitech
* @param buttonCount the number of buttons associated with each sensor
*/
public LogitechTracker(View view, String masterFilename,
String slaveFilename, int mode,
int sensorCount, int buttonCount) {
this.super(view, masterFilename, mode, sensorCount, buttonCount);
this.slaveFilename = slaveFilename;
}
native int StartUpPolled(int fd);
native int StartUpStreaming(int fd);
native int PollInput(int fd, float PosOrient[], int Buttons[]);
native int ProcessStream(int fd, float PosOrient[], int Buttons[]);
native int OpenSerialDeviceRaw(String filename, int baudRate);
/**
* Code to initialize the device
* @param deviceFilename
*/
public boolean initialize() {
return this.initialize(19200);
}
/**
* Initializes the Logitech deviceFilename by opening the
* device and sending the Logitech the initialization information.
* @param deviceFilename the Logitech's deviceFilename
* @param baudRate the speed we want the Logitech to run at
*/
public boolean initialize(int baudRate) {
fileDescriptor = this.OpenSerialDeviceRaw(deviceFilename, baudRate);
if (fileDescriptor < 0) {
System.out.println("Unable to initialize Logitech on " +
deviceFilename + " error code " +
fileDescriptor);
return false;
}
try {
Thread.sleep(2000L);
} catch (InterruptedException e) {
System.out.println(e);
}
/* OBSOLETE:
if(processingMode == POLLED){
System.out.println("Initializing Polled");
return (0 == this.StartUpPolled(fileDescriptor));
} else if (processingMode == STREAMING) {
System.out.println("Initializing Streaming");
return (0 == this.StartUpStreaming(fileDescriptor));
}
*/
return false;
}
/**
* Code to set the device's current position and orientation as the devices
* nominal position and orientation(establish its reference frame relative
* to the "Tracker base" reference frame).
*/
public void setNominalPositionAndOrientation() {
Transform3D BaseTransform = new Transform3D();
/** The following is not MT safe
pollAndProcessInput();
*/
(sensors[currentSensor].getCurrentSensorRead()).get(BaseTransform);
initialPosOrient.invert(BaseTransform);
newTransform.setIdentity();
ButtonArray[0] = 0;
sensors[currentSensor].setNextSensorRead(System.currentTimeMillis(),
newTransform, ButtonArray);
}
/**
* Code to poll and then process the input from a logitech.
*/
public void pollAndProcessInput() {
long time;
System.out.println("pollAndProcessInput: entered");
this.PollInput(fileDescriptor, PositionOrientation, ButtonArray);
System.out.println("PositionOrientation: "
+ PositionOrientation[0] +
" " + PositionOrientation[0] +
" " + PositionOrientation[1] +
" " + PositionOrientation[2] +
" " + PositionOrientation[3] +
" " + PositionOrientation[4] +
" " + PositionOrientation[5]);
System.out.println("Buttons " + ButtonArray[0]);
time = System.currentTimeMillis();
tmpVector.set(PositionOrientation[0], PositionOrientation[1],
PositionOrientation[2]);
newTransform.setTranslation(tmpVector);
setMatrixFromValues(PositionOrientation, newMatrix);
newTransform.setRotationScale(newMatrix);
newTransform.mul(initialPosOrient, newTransform);
sensors[currentSensor].setNextSensorRead(time, newTransform,
ButtonArray);
}
Matrix3d oldMatrix = new Matrix3d();
Matrix3d newMatrix = new Matrix3d();
Matrix3d tmpMatrix = new Matrix3d();
Transform3D oldTransform = new Transform3D();
Vector3d oldLocation = new Vector3d();
Transform3D newTransform = new Transform3D();
Vector3d newLocation = new Vector3d();
Vector3d tmpVector = new Vector3d();
/**
* Code to process the device's streaming input.
*/
public void processStreamInput() {
long time;
System.out.println("processStreamInput: entered");
this.ProcessStream(fileDescriptor, PositionOrientation, ButtonArray);
System.out.println("PositionOrientation: "
+ PositionOrientation[0] +
" " + PositionOrientation[0] +
" " + PositionOrientation[1] +
" " + PositionOrientation[2] +
" " + PositionOrientation[3] +
" " + PositionOrientation[4] +
" " + PositionOrientation[5]);
time = System.currentTimeMillis();
tmpVector.set(PositionOrientation[0], PositionOrientation[1],
PositionOrientation[2]);
newTransform.setTranslation(tmpVector);
setMatrixFromValues(PositionOrientation, newMatrix);
newTransform.setRotationScale(newMatrix);
newTransform.mul(initialPosOrient, newTransform);
sensors[currentSensor].setNextSensorRead(time, newTransform,
ButtonArray);
}
/**
* Code to construct a delta Matrix from Logitech inputs
*/
void setMatrixFromValues(float posOrient[], Matrix3d Delta){
double sina, sinb, sinc, cosa, cosb, cosc;
sina = Math.sin(posOrient[3]);
sinb = Math.sin(posOrient[4]);
sinc = Math.sin(posOrient[5]);
cosa = Math.cos(posOrient[3]);
cosb = Math.cos(posOrient[4]);
cosc = Math.cos(posOrient[5]);
Delta.m00 = cosb * cosc;
Delta.m01 = cosb * sinc;
Delta.m02 = -sinb;
Delta.m10 = -(cosa * sinc) + (sina * sinb * sinc);
Delta.m11 = (cosa * cosc) + (sina * sinb * sinc);
Delta.m12 = sina * cosb;
Delta.m20 = (sina * sinc) + (cosa * sinb * cosc);
Delta.m21 = -(sina * cosc) + (cosa * sinb * sinc);
Delta.m22 = cosa * cosb;
}
}
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