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Unigine::Plugins::VrpnTrackerDevice Class

Warning
The functionality described in this article is not available in the Community SDK edition.
You should upgrade to Sim SDK edition to use it.
Header: #include <plugins/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:
  1. Sensor number (int)
  2. Linear acceleration (vec3 for the float precision version, or dvec3 for the double precision version)
  3. Acceleration of orientation change (an analog of angular acceleration; quat)
  4. 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:
  1. Sensor number (int)
  2. Position (vec3 for the float precision version, or dvec3 for the double precision version)
  3. 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:
  1. Sensor number (int)
  2. Linear velocity (vec3 for the float precision version, or dvec3 for the double precision version)
  3. Velocity of orientation change (an analog of angular velocity; quat)
  4. 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: 20.04.2022
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