devices/deviceopticalhybrid/ordeviceopticalhybrid_hardware.h

devices/deviceopticalhybrid/ordeviceopticalhybrid_hardware.h
#ifndef __ORDEVICE_OPTICAL_HARDWARE_H__
#define __ORDEVICE_OPTICAL_HARDWARE_H__
/***************************************************************************************
Autodesk(R) Open Reality(R) Samples
(C) 2009 Autodesk, Inc. and/or its licensors
All rights reserved.
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***************************************************************************************/
//--- Maximum number of markers detected.
#define MAX_MARKER 100
//--- SDK include
#include <fbsdk/fbsdk.h>
// Port number to use for server
const int PORTNUMBER = 8889; // Port number for communication
const int SIM_FPS = 60; // Tested for 30,60,120
const int ChannelCount = 30;
#if defined( WIN32 )
typedef unsigned __int64 nsTime;
#else
typedef unsigned long long nsTime;
#endif
struct sSkDataBuffer
{
nsTime mTime;
int mCounter;
struct
{
double mT[3];
double mR[3];
} mChannel[ChannelCount];
sSkDataBuffer()
{
mTime = 0;
mCounter = 0;
}
void Simulate(nsTime pTime)
{
mTime = pTime;
// Send last data + 0.5 degree global rotation in the Y direction
FBMatrix lTransformation, lChannelTransformation;
FBRotationToMatrix(lTransformation,FBRVector(0,0.5,0));
for(int i = 0; i < ChannelCount; i++)
{
FBRotationToMatrix(lChannelTransformation, mChannel[i].mR);
memcpy(&lChannelTransformation[12], mChannel[i].mT,sizeof(mChannel[i].mT));
FBMatrixMult(lChannelTransformation,lTransformation,lChannelTransformation);
FBMatrixToRotation((FBRVector&)*mChannel[i].mR,lChannelTransformation);
memcpy(&mChannel[i].mT,&lChannelTransformation[12],sizeof(mChannel[i].mT));
}
mCounter++;
}
void SetupBuffer()
{
//0:Hips
mChannel[0].mT[0] = 5.52507944791e-15;
mChannel[0].mT[1] = 90.2313919067;
mChannel[0].mT[2] = 0.0;
mChannel[0].mR[0] = 0.0;
mChannel[0].mR[1] = 0.0;
mChannel[0].mR[2] = 0.0;
//1:LeftUpLeg
mChannel[1].mT[0] = 10.8919000626;
mChannel[1].mT[1] = 90.2313919067;
mChannel[1].mT[2] = 0.0;
mChannel[1].mR[0] = 0.0;
mChannel[1].mR[1] = 0.0;
mChannel[1].mR[2] = 0.0;
//2:LeftLeg
mChannel[2].mT[0] = 10.8919000626;
mChannel[2].mT[1] = 46.1967926025;
mChannel[2].mT[2] = 0.0;
mChannel[2].mR[0] = 0.0;
mChannel[2].mR[1] = 0.0;
mChannel[2].mR[2] = 0.0;
//3:LeftFoot
mChannel[3].mT[0] = 10.8919000626;
mChannel[3].mT[1] = 4.74909210205;
mChannel[3].mT[2] = 0.0;
mChannel[3].mR[0] = 14.9999777807;
mChannel[3].mR[1] = 0.0;
mChannel[3].mR[2] = 0.0;
//4:LeftToeBase
mChannel[4].mT[0] = 10.8919000626;
mChannel[4].mT[1] = 1.05947666894;
mChannel[4].mT[2] = 13.7698536165;
mChannel[4].mR[0] = 0.0;
mChannel[4].mR[1] = 0.0;
mChannel[4].mR[2] = 0.0;
//5:L_Toe_End
mChannel[5].mT[0] = 10.8919000626;
mChannel[5].mT[1] = 1.05947666894;
mChannel[5].mT[2] = 21.2698536165;
mChannel[5].mR[0] = 0.0;
mChannel[5].mR[1] = 0.0;
mChannel[5].mR[2] = 0.0;
//6:RightUpLeg
mChannel[6].mT[0] = -10.8919000626;
mChannel[6].mT[1] = 90.2313919067;
mChannel[6].mT[2] = 0.0;
mChannel[6].mR[0] = 0.0;
mChannel[6].mR[1] = 0.0;
mChannel[6].mR[2] = 0.0;
//7:RightLeg
mChannel[7].mT[0] = -10.8919000626;
mChannel[7].mT[1] = 46.1967926025;
mChannel[7].mT[2] = 0.0;
mChannel[7].mR[0] = 0.0;
mChannel[7].mR[1] = 0.0;
mChannel[7].mR[2] = 0.0;
//8:RightFoot
mChannel[8].mT[0] = -10.8919000626;
mChannel[8].mT[1] = 4.74909210205;
mChannel[8].mT[2] = 0.0;
mChannel[8].mR[0] = 14.9999777807;
mChannel[8].mR[1] = 0.0;
mChannel[8].mR[2] = 0.0;
//9:RightToeBase
mChannel[9].mT[0] = -10.8919000626;
mChannel[9].mT[1] = 1.05947666894;
mChannel[9].mT[2] = 13.7698536165;
mChannel[9].mR[0] = 0.0;
mChannel[9].mR[1] = 0.0;
mChannel[9].mR[2] = 0.0;
//10:R_Toe_End
mChannel[10].mT[0] = -10.8919000626;
mChannel[10].mT[1] = 1.05947666894;
mChannel[10].mT[2] = 21.2698536165;
mChannel[10].mR[0] = 0.0;
mChannel[10].mR[1] = 0.0;
mChannel[10].mR[2] = 0.0;
//11:Spine
mChannel[11].mT[0] = 5.52507944791e-15;
mChannel[11].mT[1] = 90.3313919082;
mChannel[11].mT[2] = 0.0;
mChannel[11].mR[0] = 0.0;
mChannel[11].mR[1] = 0.0;
mChannel[11].mR[2] = 0.0;
//12:Spine1
mChannel[12].mT[0] = 5.52507944791e-15;
mChannel[12].mT[1] = 109.028892137;
mChannel[12].mT[2] = 0.0;
mChannel[12].mR[0] = 0.0;
mChannel[12].mR[1] = 0.0;
mChannel[12].mR[2] = 0.0;
//13:Neck
mChannel[13].mT[0] = 5.52507944791e-15;
mChannel[13].mT[1] = 133.325692751;
mChannel[13].mT[2] = 0.0;
mChannel[13].mR[0] = 0.0;
mChannel[13].mR[1] = 0.0;
mChannel[13].mR[2] = 0.0;
//14:Head
mChannel[14].mT[0] = 5.52507944791e-15;
mChannel[14].mT[1] = 145.887693025;
mChannel[14].mT[2] = 0.0;
mChannel[14].mR[0] = 0.0;
mChannel[14].mR[1] = 0.0;
mChannel[14].mR[2] = 0.0;
//15:Head_End
mChannel[15].mT[0] = 5.52507944791e-15;
mChannel[15].mT[1] = 157.387693025;
mChannel[15].mT[2] = 0.0;
mChannel[15].mR[0] = 0.0;
mChannel[15].mR[1] = 0.0;
mChannel[15].mR[2] = 0.0;
//16:LeftShoulder
mChannel[16].mT[0] = 5.52507944791e-15;
mChannel[16].mT[1] = 133.325692751;
mChannel[16].mT[2] = 0.0;
mChannel[16].mR[0] = 0.0;
mChannel[16].mR[1] = 0.0;
mChannel[16].mR[2] = -90.0002104591;
//17:LeftArm
mChannel[17].mT[0] = 21.7077007292;
mChannel[17].mT[1] = 133.325613014;
mChannel[17].mT[2] = 0.0;
mChannel[17].mR[0] = 0.0;
mChannel[17].mR[1] = 0.0;
mChannel[17].mR[2] = -90.0002104591;
//18:LeftForeArm
mChannel[18].mT[0] = 48.0103015896;
mChannel[18].mT[1] = 133.325516399;
mChannel[18].mT[2] = 0.0;
mChannel[18].mR[0] = 0.0;
mChannel[18].mR[1] = 0.0;
mChannel[18].mR[2] = -90.0002104591;
//19:LeftHand
mChannel[19].mT[0] = 75.5387020106;
mChannel[19].mT[1] = 133.325415281;
mChannel[19].mT[2] = 0.0;
mChannel[19].mR[0] = 0.0;
mChannel[19].mR[1] = 0.0;
mChannel[19].mR[2] = -90.0002104591;
//20:LeftHandThumb
mChannel[20].mT[0] = 75.5387020106;
mChannel[20].mT[1] = 133.325415281;
mChannel[20].mT[2] = 0.0;
mChannel[20].mR[0] = 0.0;
mChannel[20].mR[1] = 0.0;
mChannel[20].mR[2] = -90.0002104591;
//21:L_Thumb_End
mChannel[21].mT[0] = 75.5387020106;
mChannel[21].mT[1] = 133.325415281;
mChannel[21].mT[2] = 10.0;
mChannel[21].mR[0] = 0.0;
mChannel[21].mR[1] = 0.0;
mChannel[21].mR[2] = -90.0002104591;
//22:L_Wrist_End
mChannel[22].mT[0] = 85.5387020105;
mChannel[22].mT[1] = 133.325378549;
mChannel[22].mT[2] = 0.0;
mChannel[22].mR[0] = 0.0;
mChannel[22].mR[1] = 0.0;
mChannel[22].mR[2] = -90.0002104591;
//23:RightShoulder
mChannel[23].mT[0] = 5.52507944791e-15;
mChannel[23].mT[1] = 133.325692751;
mChannel[23].mT[2] = 0.0;
mChannel[23].mR[0] = 0.0;
mChannel[23].mR[1] = 0.0;
mChannel[23].mR[2] = 90.0002104591;
//24:RightArm
mChannel[24].mT[0] = -21.7077007292;
mChannel[24].mT[1] = 133.325613014;
mChannel[24].mT[2] = 0.0;
mChannel[24].mR[0] = 0.0;
mChannel[24].mR[1] = 0.0;
mChannel[24].mR[2] = 90.0002104591;
//25:RightForeArm
mChannel[25].mT[0] = -48.0103015896;
mChannel[25].mT[1] = 133.325516399;
mChannel[25].mT[2] = 0.0;
mChannel[25].mR[0] = 0.0;
mChannel[25].mR[1] = 0.0;
mChannel[25].mR[2] = 90.0002104591;
//26:RightHand
mChannel[26].mT[0] = -75.5387020106;
mChannel[26].mT[1] = 133.325415281;
mChannel[26].mT[2] = 0.0;
mChannel[26].mR[0] = 0.0;
mChannel[26].mR[1] = 0.0;
mChannel[26].mR[2] = 90.0002104591;
//27:RightHandThumb
mChannel[27].mT[0] = -75.5387020106;
mChannel[27].mT[1] = 133.325415281;
mChannel[27].mT[2] = 0.0;
mChannel[27].mR[0] = 0.0;
mChannel[27].mR[1] = 0.0;
mChannel[27].mR[2] = 90.0002104591;
//28:R_Thumb_End
mChannel[28].mT[0] = -75.5387020106;
mChannel[28].mT[1] = 133.325415281;
mChannel[28].mT[2] = 10.0;
mChannel[28].mR[0] = 0.0;
mChannel[28].mR[1] = 0.0;
mChannel[28].mR[2] = 90.0002104591;
//29:R_Wrist_End
mChannel[29].mT[0] = -89.2387018198;
mChannel[29].mT[1] = 133.325364958;
mChannel[29].mT[2] = 0.0;
mChannel[29].mR[0] = 0.0;
mChannel[29].mR[1] = 0.0;
mChannel[29].mR[2] = 90.0002104591;
}
};
struct sOpDataBuffer
{
nsTime mTime;
int mCounter;
double mMarkerData[4][4];
sOpDataBuffer()
{
mTime = 0;
mCounter = 0;
}
void Simulate(nsTime pTime)
{
mTime = pTime;
for(int i=0;i<4;i++)
{
mMarkerData[i][3] = 0.0; //Occlusion
}
double a = 10.0;
int b = (int)(mTime/10000000);
mMarkerData[0][0] = (double)(b%300)-150;
mMarkerData[0][1] = 0.0;
mMarkerData[0][2] = 0.0;
mMarkerData[1][0] = mMarkerData[0][0] + a;
mMarkerData[1][1] = 0.0;
mMarkerData[1][2] = 0.0;
mMarkerData[2][0] = mMarkerData[0][0];
mMarkerData[2][1] = a;
mMarkerData[2][2] = 0.0;
mMarkerData[3][0] = mMarkerData[0][0];
mMarkerData[3][1] = 0.0;
mMarkerData[3][2] = a;
// Simulate an occlusion
if(mMarkerData[0][0] > 0.0 && mMarkerData[0][0] < 50.0)
{
mMarkerData[0][0] = 0.0;
mMarkerData[0][1] = 20.0;
mMarkerData[0][2] = 0.0;
mMarkerData[0][3] = 1.0;
}
mCounter++;
}
};
class ORDeviceOpticalHybrid_Template_Hardware
{
public:
//--- Constructor & destructor
ORDeviceOpticalHybrid_Template_Hardware();
~ORDeviceOpticalHybrid_Template_Hardware();
//--- Client/server calls
// Opens and closes connection with data server. returns true if successful
bool Open();
bool Close();
bool GetSetupInfo();
// Streaming functions
// Once connection is established and information packets have been received
// these functions start and stops the data streaming
bool StartDataStream();
bool StopDataStream();
void ResetPacketTimeOffset(FBTime &pTime);
bool FetchDataPacket(FBTime &pTime);
//--- Attribute management
void SetNetworkUse(bool pUse) { mNetworkUse = pUse; }
bool GetNetworkUse() { return mNetworkUse; }
void SetNetworkAddress (const char *pIPAddress){ mNetworkAddress = pIPAddress; }
const char* GetNetworkAddress () { return mNetworkAddress; }
void SetNetworkPort (int pPort) { mNetworkPort = pPort; }
int GetNetworkPort () { return mNetworkPort; }
const char* GetMarkerName (int pMarkerIndex) { return mMarkerName[pMarkerIndex]; }
int GetMarkerCount () { return mMarkerCount; }
//--- Device data
double GetDataX (int pMarker) { return mOpDataBuffer.mMarkerData[pMarker][0]; }
double GetDataY (int pMarker) { return mOpDataBuffer.mMarkerData[pMarker][1]; }
double GetDataZ (int pMarker) { return mOpDataBuffer.mMarkerData[pMarker][2]; }
double GetDataO (int pMarker) { return mOpDataBuffer.mMarkerData[pMarker][3]; }
int GetChannelCount () { return mChannelCount; }
const char* GetChannelName (int pChannel) { return mChannel[pChannel].mName; }
int GetChannelParent(int pChannel) { return mChannel[pChannel].mParentChannel; }
FBVector3d GetDefaultT (int pChannel) { SkeletonNodeInfo& lSI = mChannel[pChannel]; return FBVector3d(lSI.mDefaultT[0],lSI.mDefaultT[1],lSI.mDefaultT[2]); }
FBVector3d GetDefaultR (int pChannel) { SkeletonNodeInfo& lSI = mChannel[pChannel]; return FBVector3d(lSI.mDefaultR[0],lSI.mDefaultR[1],lSI.mDefaultR[2]); }
double GetDataTX (int pChannel) { return mChannel[pChannel].mT[0]; }
double GetDataTY (int pChannel) { return mChannel[pChannel].mT[1]; }
double GetDataTZ (int pChannel) { return mChannel[pChannel].mT[2]; }
double GetDataRX (int pChannel) { return mChannel[pChannel].mR[0]; }
double GetDataRY (int pChannel) { return mChannel[pChannel].mR[1]; }
double GetDataRZ (int pChannel) { return mChannel[pChannel].mR[2]; }
private:
FBString mMarkerName[MAX_MARKER];
sOpDataBuffer mOpDataBuffer;
int mMarkerCount;
struct SkeletonNodeInfo
{
const char* mName;
int mParentChannel;
double mDefaultT[3];
double mDefaultR[3];
double mT[3];
double mR[3];
};
SkeletonNodeInfo mChannel[ChannelCount];
int mChannelCount;
sSkDataBuffer mSkDataBuffer;
nsTime mPacketTimeOffset;
FBTime mStartRecordingTime;
FBTime mLastSimulationTime;
int mPassCount;
bool mNetworkUse;
FBString mNetworkAddress;
int mNetworkPort;
FBSystem mSystem;
int mSocket;
FBTCPIP mTCP;
};
#endif /* __ORDEVICE_OPTICAL_HARDWARE_H__ */
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