main.cpp

FreeWRLduneInputDevice和FreeWRL一起可以让用户用带有6DoF的输入设备检索3D VRML/X3D数据。它基于FreeWRL的"/tmp/inpdev"扩展传感器输入接口和w

/*
 * main.cpp 
 * Mainprogram of a input device driver for FreeWRL,
 * Copyright (c) 2003 J. "MUFTI" Scheurich, based on
 * 
 * main.cpp of dune/white_dune
 *
 * Copyright (C) 1999 Stephen F. White
 * 
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program (see the file "COPYING" for details); if 
 * not, write to the Free Software Foundation, Inc., 675 Mass Ave, 
 * Cambridge, MA 02139, USA.
 */

#include <stdio.h>
#include <string.h>
#include "FreeWRLinputDeviceApp.h"
#include "WriteData.h"
#include "miniswt.h"

#define errorprintf fprintf

extern bool parseCommandlineArgumentInputDevice(int & i,int argc, char** argv);
extern FreeWRLinputDeviceApp *TheApp;

int main(int argc, char *argv[])
{
#ifdef HAVE_XINPUT
    swInitialize(&argc,argv);
#endif
    TheApp=new FreeWRLinputDeviceApp();
    int i=1;
    while (i<argc) {
       parseCommandlineArgumentInputDevice(i,argc,argv);
       i++;
    }
    TheApp->accoutMaxNumberAxesInputDevices();
    if ((i>argc) || (argc == 1)) {
       errorprintf(stderr, 
            "for usage see \"man %s\"\n",
             argv[0]);
       return 1;
    }
    TransformMode* tm = new TransformMode(TM_6D, TM_3D, TM_NEAR_FAR);
    if (TheApp->getMaxNumberAxesInputDevices()<6)
        tm = new TransformMode(TM_ROCKET, TM_3D, TM_NEAR_FAR);
    if (TheApp->getMaxNumberAxesInputDevices()<4)
        tm = new TransformMode(TM_HOVER, TM_3D, TM_NEAR_FAR);

    // FreeWRL's input mechanism can only handle one viewpoint
    // start with the default VRML viewpoint
    Vec3f vec(0, 0, 10); // FreeWRL uses z,x,y instead of x,y,z ?
    Quaternion oneQuat(0, 0, 0, 1);
    Quaternion quat = oneQuat;
    writedata(vec.z, vec.x, vec.y, -quat.x, -quat.y, -quat.z, quat.w);
    // the following is from Scene3DView::Navigate3D() of white_dune
    while (1) {
        Quaternion viewrot=quat;
        Quaternion newrot = oneQuat;
        for (i=0;i<TheApp->getNumberInputDevices();i++)
            if (TheApp->getInputDevice(i)->hasReadDelay())
                TheApp->getInputDevice(i)->prepareRead();
        for (i=0;i<TheApp->getNumberInputDevices();i++) {
            InputDevice* inputDevice=TheApp->getInputDevice(i);
            if (inputDevice==NULL)
                fprintf(stderr,"internal error\n");
            if (inputDevice->readInputDevice() && !(inputDevice->allzero())) {
                if (tm->hasRotation()) {
                    Quaternion inputrot=inputDevice->get_quaternion(tm);
                    inputrot.z=-inputrot.z;
                    newrot=inputrot*viewrot; 
                    quat=newrot;
                }
                if (tm->hasTranslation()) {
                    Vec3f v= inputDevice->get_vector(tm);
                    Vec3f xyz;
                    if ((inputDevice->isTracker()) || (inputDevice->isWand()))
                        xyz=newrot.conj()*(viewrot*v);
                    else
                        xyz=viewrot*v;
                    v[0]=xyz.x;
                    v[1]=xyz.y;
                    v[2]=xyz.z;
                    Vec3f vcamera=vec;
                    v[0]=v[0]+vcamera.x;
                    v[1]=v[1]+vcamera.y;
                    v[2]=v[2]+vcamera.z;
                    vec=v;
                } 
                writedata(vec.z, vec.x, vec.y, 
                          -quat.x, -quat.y, -quat.z, quat.w);
            }
        }
    }
    return 0;
}