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#ifndef _LSPOSER_H
#define _LSPOSER_H
#include "survive_types.h"
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.
} PoserType;
struct PoserData
{
PoserType pt;
uint8_t data[0];
};
struct PoserDataIMU
{
PoserType pt;
uint8_t datamask; //0 = accel present, 1 = gyro present, 2 = mag present.
FLT accel[3];
FLT gyro[3];
FLT mag[3];
};
struct PoserDataLight
{
PoserType pt;
int sensor_id;
int acode; //OOTX Code associated with this sweep. base_station = acode >> 2; axis = acode & 1;
uint32_t timecode; //In object-local ticks.
FLT length; //In seconds
FLT angle; //In radians from center of lighthouse.
};
struct PoserDataFullScene
{
PoserType pt;
//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
struct PoserDataIMU lastimu;
};
//When you register your posers using the internal system,
typedef int (*PoserCB)( struct SurviveObject * so, struct PoserData * pd );
#endif
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