#include "spatial.h"#include <z800.h>#include <fcntl.h>#include <stdlib.h>#include <stdio.h>#include <errno.h>#include <termios.h>#include <unistd.h>#include <string.h>#include <ctype.h>#include <math.h>#include <SDL/SDL.h>#include <GL/gl.h>#include <GL/glu.h>Functions | |
| int | sptInit (int what, char *prog_name) |
| Initialize the spatial library. | |
| int | sptEnableStereo () |
| enable stereo mode on the Z800 | |
| int | sptDisableStereo () |
| turn Z800 stereo mode off | |
| int | sptClose () |
| close spatial devices | |
| int | sptCycleBrightness () |
| change the Z800 brightness | |
| int | sptContinuousTracking () |
| enable continuous position tracking mode | |
| int | sptPointTracking () |
| request a single tracking data frame | |
| int | sptUpdatePosition () |
| update active stations' position and rotation data | |
| float * | sptGetPositionPointer (unsigned int station) |
| get pointer to a station's tracking data | |
| int | sptSetHemisphere (unsigned int station, float x, float y, float z) |
| set tracking system hemisphere of operation | |
| int | sptSetAlignmentFrame (unsigned int station, float ox, float oy, float oz, float xx, float xy, float xz, float yx, float yy, float yz) |
| modifies tracking system alignment frame | |
| int | sptResetAlignmentFrame (unsigned int station) |
| resets the Patriot's alignment frame | |
| int | sptEnableStations (unsigned int station) |
| enable tracking for station(s) | |
| int | sptResetPatriot (void) |
| reset the Patriot tracking system | |
| void | sptHeadsetViewport () |
| change to Z800 headset viewport | |
| void | sptSecondViewport () |
| change to LCD/projector viewport | |
| void | sptRenderFrame () |
| finish drawing a frame | |
| void | sptGetFrustum (float vfov, float zNear, float *ret) |
| obtain a 3D viewing frustum | |
| SDL_Surface * | sptGetSDLSurface (void) |
| obtain SDL surface | |
Variables | |
| int | sptIsLeft = 0 |
| true if we are drawing a frame to the left eye of the headset | |
spatial.c is the main file implementing the spatial library, a library providing an easier interface to the 3D headset, position tracking, and graphics hardware.
History:
| int sptClose | ( | ) |
close spatial devices
This function releases resources that had been claimed upon initialization of the spatial library
| int sptContinuousTracking | ( | ) |
enable continuous position tracking mode
This function tells the Patriot to start sending data frames at a rate of 60Hz to the PC via the serial line rather than waiting to be asked for a data frame.
| int sptCycleBrightness | ( | ) |
change the Z800 brightness
This is a simple function to change the brightness level of the Z800 headset from software. Each time it is called it will "cycle" the brightness level on the headset.
| int sptDisableStereo | ( | ) |
turn Z800 stereo mode off
Disable stereo mode for Z800 headset
| int sptEnableStations | ( | unsigned int | station | ) |
enable tracking for station(s)
This function enables one or both of the Patriot sensors to send data frames back to the PC
| station | SPT_STATION1, SPT_STATION2, or SPT_STATIONBOTH |
| int sptEnableStereo | ( | ) |
enable stereo mode on the Z800
Tell the Z800 headset that every other frame should go to every other eye from now on
| void sptGetFrustum | ( | float | vfov, | |
| float | zNear, | |||
| float * | ret | |||
| ) |
obtain a 3D viewing frustum
This graphics helper function returns values that can be used to send to OpenGL's glFrustum() function. The values returned specify a viewing frustum that has not been offset for the eye separation. See glFrustum() man page for more information.
| vfov | the vertical field-of-view angle in degrees | |
| zNear | the distance to the near clipping plane | |
| ret | a pointer to where to store the 4 floating point values for the viewing frustum. |
| float* sptGetPositionPointer | ( | unsigned int | station | ) |
get pointer to a station's tracking data
This function returns to the user application a pointer which can be used by the user application to access the position data for each sensor when it is needed
| station | must be SPT_STATION1 or SPT_STATION2 |
| SDL_Surface* sptGetSDLSurface | ( | void | ) |
obtain SDL surface
This graphics helper function returns the main SDL surface used in drawing the screen in case the application desires to do something with it directly
| void sptHeadsetViewport | ( | ) |
change to Z800 headset viewport
This is a graphics helper function to set the OpenGL viewport to the left side of the double-wide screen. The Left side of the screen will be the image that is sent to one of the eye screens on the headset.
| int sptInit | ( | int | what, | |
| char * | prog_name | |||
| ) |
Initialize the spatial library.
This routine is used to initialize spatial library and devices. It must be called before any other spt* routines.
| what | what part of spatial to initialize -- can be SPT_HEADSET, SPT_TRACKING, SPT_GRAPHICS, SPT_AUDIO, or any combination of these ORed together | |
| prog_name | the program name -- this is used to set the window title if SPT_GRAPHICS is specified |
| int sptPointTracking | ( | ) |
request a single tracking data frame
This function requests a single data frame with position and rotation information from the Patriot tracking system and also disables continuous tracking if it had been enabled
| void sptRenderFrame | ( | ) |
finish drawing a frame
This function can be called when a complete OpenGL scene is rendered. It will cause a buffer swap (which should be synced to happen during the vertical retrace period of the Z800 headset) and it will toggle the sptIsLeft variable to be used by the application.
| int sptResetAlignmentFrame | ( | unsigned int | station | ) |
resets the Patriot's alignment frame
This function resets the "alignment frame" of the Patriot magnetic tracking system back to its default value
| station | SPT_STATION1, SPT_STATION2, or SPT_STATIONBOTH |
| int sptResetPatriot | ( | void | ) |
reset the Patriot tracking system
This function sends a reset to the Patriot -- apparently the Patriot either (a) does not reset immediately or (b) waits until it has another command to reset. Since resets take up to a couple dozen seconds, calling sptResetPatriot() and then sptPointTracking() and then closing the file descriptor and waiting a minute is probably the best way to reset the system from software. Of course, cycling the power would probably be easier.
| void sptSecondViewport | ( | ) |
change to LCD/projector viewport
This is a graphics helper function to select the right half of the screen for OpenGL to draw to. This side will go to the LCD or projector.
| int sptSetAlignmentFrame | ( | unsigned int | station, | |
| float | ox, | |||
| float | oy, | |||
| float | oz, | |||
| float | xx, | |||
| float | xy, | |||
| float | xz, | |||
| float | yx, | |||
| float | yy, | |||
| float | yz | |||
| ) |
modifies tracking system alignment frame
This function can alter the "alignment frame" for the Patriot magnetic tracking system. See the Patriot documentation for more details. You probably will not even need to call this function.
| station | SPT_STATION1, SPT_STATION2, or SPT_STATIONBOTH | |
| ox | the x coordinate of the new origin point | |
| oy | the y coordinate of the new origin point | |
| oz | the z coordinate of the new origin point | |
| xx | the x coordinate of the new X axis vector | |
| xy | the y coordinate of the new X axis vector | |
| xz | the z coordinate of the new X axis vector | |
| yx | the x coordinate of the new Y axis vector | |
| yy | the y coordinate of the new Y axis vector | |
| yz | the z coordinate of the new Y axis vector |
| int sptSetHemisphere | ( | unsigned int | station, | |
| float | x, | |||
| float | y, | |||
| float | z | |||
| ) |
set tracking system hemisphere of operation
This function tells the Patriot which hemisphere the sensors are located in so that it will obtain the correct measurements (the magnetic field is symmetric). The hemisphere is specified by an (x,y,z) vector from the magnetic field source. The vector will be in the center of the hemisphere of operation.
| station | SPT_STATION1, SPT_STATION2, or SPT_STATIONBOTH | |
| x | the x coordinate of the hemisphere vector | |
| y | the y coordinate of the hemisphere vector | |
| z | the z coordinate of the hemisphere vector |
| int sptUpdatePosition | ( | ) |
update active stations' position and rotation data
This function updates the position data stored in the buffers for each sensor in the Patriot tracking system based on what data frames are available to be read in.
| int sptIsLeft = 0 |
true if we are drawing a frame to the left eye of the headset
This variable will be true if a frame is being drawn to the left eye of the headset viewport, and false otherwise. It is automatically modified by the sptRenderFrame() function.
1.4.7