1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
|
#ifndef _LSPOSER_H
#define _LSPOSER_H
#include "survive_types.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef enum PoserType_t {
POSERDATA_NONE = 0,
POSERDATA_IMU,
POSERDATA_LIGHT, // Single lighting event.
POSERDATA_FULL_SCENE, // Full, statified X, Y sweep data for both lighthouses.
POSERDATA_DISASSOCIATE, // If you get this, it doesn't contain data. It just tells you to please disassociate from
// the current SurviveObject and delete your poserdata.
POSERDATA_SYNC, // Sync pulse.
} PoserType;
typedef void (*poser_raw_pose_func)(SurviveObject *so, uint8_t lighthouse, SurvivePose *pose, void *user);
typedef void (*poser_lighthouse_pose_func)(SurviveObject *so, uint8_t lighthouse, SurvivePose *lighthouse_pose,
SurvivePose *object_pose, void *user);
typedef struct
{
PoserType pt;
poser_raw_pose_func rawposeproc;
poser_lighthouse_pose_func lighthouseposeproc;
void *userdata;
} PoserData;
void PoserData_poser_raw_pose_func(PoserData *poser_data, SurviveObject *so, uint8_t lighthouse, SurvivePose *pose);
void PoserData_lighthouse_pose_func(PoserData *poser_data, SurviveObject *so, uint8_t lighthouse,
/* OUTPARAM */ SurvivePose *objUp2world, SurvivePose *lighthouse_poses,
SurvivePose *object_pose);
typedef struct PoserDataIMU {
PoserData hdr;
uint8_t datamask; //0 = accel present, 1 = gyro present, 2 = mag present.
FLT accel[3];
FLT gyro[3];
FLT mag[3];
uint32_t timecode; //In object-local ticks.
} PoserDataIMU;
typedef struct PoserDataLight {
PoserData hdr;
int sensor_id;
int acode; //OOTX Code associated with this sweep. bit 1 indicates vertical(1) or horizontal(0) sweep
int lh; //Lighthouse making this sweep
uint32_t timecode; //In object-local ticks.
FLT length; //In seconds
FLT angle; //In radians from center of lighthouse.
} PoserDataLight;
typedef struct
{
PoserData hdr;
//If "lengths[...]" < 0, means not a valid piece of sweep information.
FLT lengths[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2];
FLT angles [SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; //2 Axes (Angles in LH space)
FLT synctimes[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES];
PoserDataIMU lastimu;
} PoserDataFullScene;
//When you write your posers, use the following definition, and register with REGISTER_LINKTIME.
typedef int (*PoserCB)( SurviveObject * so, PoserData * pd );
#ifdef __cplusplus
};
#endif
#endif
|
