Unigine::Plugins::VrpnTrackerDevice Class
| Header: | #include <plugins/Unigine/VrpnClient/UnigineVrpnClient.h> |
A class for the VRPN Plugin that allows receiving data about position, orientation, velocity and acceleration of tracked objects from 3D tracking sensors.
See Also#
- Article on VRPN Plugin
- A set of UnigineScript API samples located in the <UnigineSDK>/data/samples/plugins/ folder:
- vrpn_client_00
- vrpn_client_01
VrpnTrackerDevice Class
Members
VrpnTrackerDevice ( const char * name ) #
Constructor.Arguments
- const char * name - Path to the device in the format device_name@server_address.
void setAccelerationCallback ( const char * name ) #
Sets the world script callback function that receives data about acceleration of tracked objects.Arguments
- const char * name - Callback function name.
Examples
Source code (UnigineScript)
VrpnTrackerDevice vrpn_tracker;
int init() {
vrpn_tracker = new VrpnTrackerDevice("device_name@server_addr");
vrpn_tracker.setAccelerationCallback("acceleration_callback");
return 1;
}
int shutdown() {
delete vrpn_tracker;
return 1;
}
int update() {
vrpn_tracker.update();
return 1;
}
// a callback function
void acceleration_callback(int sensor,vec3 acceleration,quat orientation,float ifps) {
log.message("Device sensor %d: acceleration %s, orientation %s, ifps %f\n",sensor,acceleration,orientation,ifps);
}const char * getAccelerationCallback ( ) #
Returns a name of the world script callback function that receives data about acceleration of tracked objects. The callback function should be defined in the world script and receive 4 arguments:- Sensor number (int)
- Linear acceleration (vec3 for the float precision version, or dvec3 for the double precision version)
- Acceleration of orientation change (an analog of angular acceleration; quat)
- Acceleration measurement time (float for the float precision version, or double for the double precision version)
Source code (UnigineScript)
// float precision
void callback_func(int sensor,vec3 acceleration,quat acceleration_orientation,float ifps) {
// function logic
}
// double precision
void callback_func(int sensor,dvec3 acceleration,quat acceleration_orientation,double ifps) {
// function logic
}Return value
Callback function name.void setTransformCallback ( const char * name ) #
Sets the world script callback function that receives data about position and orientation of tracked objects.Arguments
- const char * name - Callback function name.
Examples
Source code (UnigineScript)
VrpnTrackerDevice vrpn_tracker;
int init() {
vrpn_tracker = new VrpnTrackerDevice("device_name@server_addr");
vrpn_tracker.setTransformCallback("transform_callback");
return 1;
}
int shutdown() {
delete vrpn_tracker;
return 1;
}
int update() {
vrpn_tracker.update();
return 1;
}
// a callback function
void transform_callback(int sensor,vec3 position,quat orientation) {
log.message("Device sensor %d: position %s, orientation %s\n",sensor,position,orientation);
}const char * getTransformCallback ( ) #
Returns a name of the world script callback function that receives data about position and orientation of tracked objects. The callback function should be defined in the world script and receive 3 arguments:- Sensor number (int)
- Position (vec3 for the float precision version, or dvec3 for the double precision version)
- Orientation (quat)
Source code (UnigineScript)
// float precision
void callback_func(int sensor,vec3 acceleration,quat acceleration_orientation,float ifps) {
// function logic
}
// double precision
void callback_func(int sensor,dvec3 acceleration,quat acceleration_orientation,double ifps) {
// function logic
}Return value
Callback function name.void setVelocityCallback ( const char * name ) #
Sets the world script callback function that receives data about velocity of tracked objects.Arguments
- const char * name - Callback function name.
Examples
Source code (UnigineScript)
VrpnTrackerDevice vrpn_tracker;
int init() {
vrpn_tracker = new VrpnTrackerDevice("device_name@server_addr");
vrpn_tracker.setVelocityCallback("velocity_callback");
return 1;
}
int shutdown() {
delete vrpn_tracker;
return 1;
}
int update() {
vrpn_tracker.update();
return 1;
}
// a callback function
void velocity_callback(int sensor,vec3 velocity,quat orientation,float velocity_ifps) {
log.message("Device sensor %d: velocity %s, orientation %s, ifps %f\n",sensor,velocity,orientation,ifps);
}const char * getVelocityCallback ( ) #
Returns a name of the world script callback function that receives data about velocity of tracked objects. The callback function should be defined in the world script and receive 4 arguments:- Sensor number (int)
- Linear velocity (vec3 for the float precision version, or dvec3 for the double precision version)
- Velocity of orientation change (an analog of angular velocity; quat)
- Velocity measurement time (float for the float precision version, or double for the double precision version)
Source code (UnigineScript)
// float precision
void callback_func(int sensor,vec3 velocity,quat velocity_orientation,float ifps) {
// function logic
}
// double precision
void callback_func(int sensor,dvec3 velocity,quat velocity_orientation,double ifps) {
// function logic
}Return value
Callback function name.void update ( ) #
Updates the internal state of the device and receives input data.Notice
This function should be called each frame.
int getNumSensors ( ) const#
Returns the total number of sensors.Return value
The total number of sensors.Math::Vec3 getSensorPosition ( int num ) const#
Returns the specified sensor position.Arguments
- int num - Sensor index number in range [0; NUM_SENSORS - 1 ].
Return value
Sensor position.Math::quat getSensorRotation ( int num ) const#
Returns the specified sensor rotation.Arguments
- int num - Sensor index number in range [0; NUM_SENSORS - 1 ].
Return value
Sensor rotation.Math::Vec3 getSensorVelocity ( int num ) const#
Returns the current sensor velocity (m/s2).Arguments
- int num - Sensor index number in range [0; NUM_SENSORS - 1 ].
Return value
Sensor velocity, in units per second.Math::quat getSensorVelocityOrientation ( int num ) const#
Returns the orientation of the specified sensor after the delta time.Arguments
- int num - Sensor index number in range [0; NUM_SENSORS - 1 ].
Return value
Orientation of the sensor velocity.Math::Scalar getSensorVelocityIFps ( int num ) const#
Returns the delta time (in seconds) for the sensor velocity.Arguments
- int num - Sensor index number in range [0; NUM_SENSORS - 1 ].
Return value
Delta time (in seconds).Math::Vec3 getSensorAcceleration ( int num ) const#
Returns the current sensor acceleration (m/s2).Arguments
- int num - Sensor index number in range [0; NUM_SENSORS - 1 ].
Return value
Sensor acceleration.Math::quat getSensorAccelerationOrientation ( int num ) const#
Returns the orientation of the specified sensor after the delta time.Arguments
- int num - Sensor index number in range [0; NUM_SENSORS - 1 ].
Return value
Orientation of the sensor acceleration.Math::Scalar getSensorAccelerationIFps ( int num ) const#
Returns delta time (in seconds) for the sensor acceleration.Arguments
- int num - Sensor index number in range [0; NUM_SENSORS - 1 ].
Return value
Delta time (in seconds).Last update:
2024-08-16
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