/* -------------------------------------------------------------
* Designed by: Dr. Peter Hor-Ching Wang
* Date: Sep. 10, 1995
* Purpose: Attach VPL Dataglove to ching virtual reality system
* Notes: This is a VR system based on sense8 WorldToolKit and
* DataGlove driver from Dr. Tomohiro Kuroda
* ------------------------------------------------------------- */
#include "hand.c"
#include "handfont.c"
#include "datag.c"
/*
* onlyhand.c: attach DataGlove in com1 to hand object and move it
*
* (C) Tomohiro Kuroda June 1995
*/
/*
#define COM2 "/dev/ttyd2"
#define COM1 "/dev/ttyd1"
*/
/******* Port number *********/
#define GLOVEPORT COM1
#define BALLPORT COM2
/******* Include Headers *******/
#include "wt.h" /* Standard WTK header files */
#include "DataG.h" /* Data Glove controlling functions */
#include "hand.h" /* Hand object creating & dealing functions */
#define RIGHT TRUE /* TRUE in right hand */
/******* Global variables *******/
WTsensor *mouse = NULL; /* a handle on the mouse */
WTviewpoint *uview; /* universe's viewpoint */
WTsensor *glove = NULL; /* Data Glove object */
WTsensor *headpolh = NULL; /* Polhemous Fastrak */
WTsensor *polh = NULL; /* Polhemous Fastrak */
WTsensor *ball = NULL; /* Spaceball */
WtGloveHand *hand; /* Hand object */
WTpq InitialView; /* Intiaial view point */
WTpq InitialHand; /* Initial hand position */
WTp3 light_pos = { 1200, -800, -1000 }; /* light position */
WTp3 light_dir = { -.68, .48, .58 }; /* light direction */
int gb_calib_step = 0; /* Calibration step of data glove
* 0 : not in the calibration
* 1 : calibrate fist
* 2 : calibrate parm
*/
void LoadObjects (char *directory);
void LoadObjectsFile (char *directory);
void LoadUniverse (char *filename, float scale);
char fname[80];
/******* prototypes *******/
void actions(void);
void handle_key(int key);
void toggle_object(WTobject *obj);
void reset_view(void);
void reset_hand(void);
void rotate_fastrak(WTsensor *sensor);
void handle_spaceball(void);
/*************************/
/******* functions *******/
/*************************/
/******* main *******/
WTserial *serial;
WTserial *WTserial_new();
int main(int argc, char *argv[])
{
printf("WorldToolKit Data Glove simple demo\n");
printf("Copyright 1995 Tomohiro Kuroda\n\n");
printf ("Creating new universe\n");
WTuniverse_new(WTDISPLAY_DEFAULT, WTWINDOW_DEFAULT);
uview = WTuniverse_getviewpoint();
WTlight_setambient(0.02);
WTlight_new(light_pos, light_dir, 1.0);
/* prepare to read keyboard */
WTkeyboard_open();
/* setup mouse sensor */
mouse = WTsensor_new(WTmouse_open, WTmouse_close, WTmouse_moveview2,
NULL, 1, WTSENSOR_DEFAULT);
WTsensor_setsensitivity (mouse,1000.0f);
/* setup dataglove sensor */
/*
glove = WTdataglove_new(GLOVEPORT);
*/
serial = WTserial_new("/dev/ttyd1" ,9600) ;
printf("Glove serial = %x\n",serial);
WTserial_setsize(serial, 256);
glove = WTsensor_new(WTdataglove_open, WTdataglove_close, WTdataglove_update,
serial,1,WTSENSOR_DEFAULT);
if(glove == NULL) printf("***************** glove not ready **************\n");
/* setup polhemous sensor */
while ( !headpolh ){
printf("FastTrak_new\n");
headpolh = WTfastrak_new("/dev/ttyd2",1);
}
polh = WTfastrak_new("/dev/ttyd2",2);
printf("headpolh=%x, polh=%x\n",headpolh, polh);
/* setup spaceball */
/*
ball = WTspaceball_new("/dev/ttyd2");
*/
/* create hand object*/
while( !hand) {
printf("hand_new\n");
hand = WtGloveHandInit(RIGHT, TRUE);
}
if(hand) WTobject_add(hand->parm);
WTobject_getposition(hand->parm, InitialHand.p);
WTobject_getorientation(hand->parm, InitialHand.q);
/* attach polhemus */
if(polh && hand){
WTobject_addsensor(hand->parm, polh, WTFRAME_LOCAL);
rotate_fastrak(polh);
}
/* set universe action function */
WTuniverse_setactions(actions);
printf ("Universe ready\n");
WTuniverse_ready();
/* zoom until roughly all of universe is in view */
WTviewpoint_zoomall(uview);
/* save initial view point */
WTviewpoint_getposition(uview, InitialView.p);
WTviewpoint_getorientation(uview, InitialView.q);
WTsensor_setsensitivity(mouse, 0.05 * WTuniverse_getradius());
WTviewpoint_addsensor(uview, mouse);
if(ball) WTviewpoint_addsensor(uview, ball);
/* enter main loop */
printf("Universe go\n");
printf("(press ? for help)\n");
WTuniverse_go();
/* all done - clean up */
WTuniverse_delete();
return 0;
}
/******* actions *******/
void actions(void)
{
int key;
/* Move Hand object along Data Glove input */
if(!gb_calib_step) WtGloveHand_update(hand, glove, 0, FALSE);
/* handle spaceball */
if(ball) handle_spaceball();
/* get key and do key functions */
key = WTkeyboard_getlastkey();
if (key) handle_key(key); /* interpret keypress */
}
void handle_key(int key)
{
int ren;
WTpq l6d;
switch (key) {
case 'q':
printf("Quitting.\n");
WTuniverse_stop();
break;
case 'm':
printf("Load objects from a Master File: ");
gets(fname);
LoadObjectsFile(fname);
break;
case 'd':
printf("Load objects from a directory: ");
gets(fname);
LoadObjects(fname);
break;
case 'h':
WTobject_addsensor (hand->parm, mouse, WTFRAME_VPOINT);
break;
case 'u':
LoadUniverse (NULL, 0.0f);
break;
case 'w':
ren = WTuniverse_getrendering();
if ( ren & WTRENDER_WIREFRAME )
WTuniverse_setrendering(WTRENDER_GOURAUD);
else
WTuniverse_setrendering(WTRENDER_WIREFRAME);
break;
case '!':
/* displays state information */
/* frame rate and total polygons */
printf("\nPolygons: %6d, Frame rate: %8.2f fps\n",
WTuniverse_npolygons(), WTuniverse_framerate());
/* current viewpoint */
WTviewpoint_getposition(uview, l6d.p);
WTviewpoint_getorientation(uview, l6d.q);
printf("View: x=%8.3f, y=%8.3f, z=%8.3f\n", l6d.p[X],
l6d.p[Y], l6d.p[Z]);
printf(" qx=%8.4f, qy=%8.4f, qz=%8.4f, qw=%8.4f\n", l6d.q[X],
l6d.q[Y], l6d.q[Z], l6d.q[W]);
break;
case 'c':
if(!gb_calib_step){
/* if(polh) WTobject_removesensor(hand->parm, polh); */
reset_hand();
reset_view();
}
if(!WTglove_calibrate(glove, gb_calib_step))
gb_calib_step = 2;
gb_calib_step = (gb_calib_step == 2 ? 0 : gb_calib_step + 1);
WtGloveHand_update(hand, glove, gb_calib_step, FALSE);
if(!gb_calib_step){
/* if(polh){
WTobject_addsensor(hand->parm, polh, WTFRAME_LOCAL);
rotate_fastrak(polh);
} */
}
break;
case 'i':
reset_view();
break;
case '?':
printf("\nYou can use the mouse to fly around\n");
printf(" and you can use Dataglove to move fingers ( Not hand itself)\n");
default:
printf("\n");
printf(" 'w' Toggles wireframe\n");
printf(" '!' Get informations\n");
printf(" 'c' Calibrate Data Glove\n");
printf(" 'i' Initialize viewing point\n");
printf(" 'm' Load objects from a master file\n");
printf(" 'd' Load objects from a directory\n");
printf(" 'u' Load Universe\n");
printf(" 'q' Quits\n");
break;
}
}
void reset_view()
{
WTviewpoint_setposition(uview, InitialView.p);
WTviewpoint_setorientation(uview, InitialView.q);
}
void reset_hand()
{
WTobject_setposition(hand->parm, InitialHand.p);
WTobject_setorientation(hand->parm, InitialHand.q);
}
void rotate_fastrak(WTsensor *polh)
{
WTq q;
/* rotate -90 degree about X */
WTeuler_2q(-0.5*PI, 0.0, 0.0, q);
WTsensor_rotate(polh, q);
}
void handle_spaceball(void)
{
int data;
static FLAG button_up = TRUE;
data = WTsensor_getmiscdata(ball);
/* teleport to initial view with BUTTON1 */
if(button_up){
if ( data & WTSPACEBALL_BUTTON1_DOWN ){
button_up = FALSE;
reset_view();
}
/* Data Glove calibration with button 7 */
else if( data & WTSPACEBALL_BUTTON7_DOWN ){
button_up = FALSE;
if(!gb_calib_step){
/* if(polh) WTobject_removesensor(hand->parm, polh); */
reset_hand();
reset_view();
}
if(!WTglove_calibrate(glove, gb_calib_step))
gb_calib_step = 2;
gb_calib_step = (gb_calib_step == 2 ? 0 : gb_calib_step + 1);
WtGloveHand_update(hand, glove, gb_calib_step, FALSE);
if(!gb_calib_step){
/* if(polh){
WTobject_addsensor(hand->parm, polh, WTFRAME_LOCAL);
rotate_fastrak(polh);
} */
}
}
}
else if(data & WTSPACEBALL_BUTTONS_UP)
button_up = TRUE;
}
/* ------------------------------------------------------- */
/*
* loads a new universe from filename and scale passed
* into the function. If either of the arguments
* is null, prompts the user
*/
void LoadUniverse (char *filename, float scale)
{
char buf[WTPATHLEN];
WTpq initView;
/* if no filename ask for one */
if (filename == NULL) {
filename = malloc (WTPATHLEN);
printf ("Enter filename to load as new universe: ");
gets (filename);
}
/* if scale is 0.0 ask for one */
if (scale == 0.0f) {
printf ("Enter scale for new universe: ");
gets (buf);
if (!buf[0])
scale = 1.0f;
else
scale = (float) atof (buf);
}
/* load universe geometry */
scale=1.0;
printf ("Loading new universe '%s' at scale '%.2f'\n",filename,scale);
if (WTuniverse_load (filename, &initView, scale) ) {
/* move the viewpoint to the position and orientation read
from the model */
WTviewpoint_moveto (uview, &initView);
/* scale mouse sensitivity with the size of the universe */
/*
printf("universe getradius=%f\n",WTuniverse_getradius);
WTsensor_setsensitivity (mouse, 0.03f*WTuniverse_getradius ());
*/
WTsensor_setsensitivity (mouse,1000.0f);
WTsensor_setsensitivity (ball, 1000.0f);
printf ("done.\n");
}
else
printf ("error.\n");
/* show text menu */
} /* END LoadUniverse */
/* ------------------------------------------------------- */
/*
* load a master file
* of dynamic objects
*/
void LoadObjectsFile (char *directory)
{
FILE *fp;
WTpq pq;
char fname[80];
WTobject *obj = NULL;
char *newline;
/* if no directory ask for one */
if (directory == NULL) {
directory = malloc (WTPATHLEN);
printf ("Enter directory to load objects from: ");
gets (directory);
}
/* open directory */
printf ("Loading dynamic objects from master file : '%s'\n", directory); fp = fopen(directory,"r");
if (!fp) {
WTwarning ("Couldn't open file : '%s'!\n", directory);
return;
}
/* load objects from specified master file*/
while ( fgets(fname, 80, fp) != NULL ) {
/* check the file extension to see if we recognize it. */
newline = strchr(fname,'\n');
*newline = '\0';
printf ("Loading: '%s'...", fname);
obj = WTobject_new (fname, &pq, 1.0f, FALSE, FALSE);
if (obj)
printf("done.\n");
else
printf("error.\n");
}
fclose(fp);
} /* END LoadObjects */
/* ------------------------------------------------------- */
/*
* load an entire directory
* of dynamic objects
*/
void LoadObjects (char *directory)
{
WTpq pq;
char path[WTPATHLEN], *fname;
WTobject *obj = NULL;
WTdirectory *dir;
char *period;
/* if no directory ask for one */
if (directory == NULL) {
directory = malloc (WTPATHLEN);
printf ("Enter directory to load objects from: ");
gets (directory);
}
/* open directory */
printf ("Loading dynamic objects from directory: '%s'\n", directory);
dir = WTdirectory_open(directory);
if (!dir) {
WTwarning ("Couldn't open directory: '%s'!\n", directory);
return;
}
/* load objects from specified directory */
while ( (fname = WTdirectory_getentry (dir)) != NULL ) {
/* check the file extension to see if we recognize it. */
strlwr (fname);
period = strchr (fname, '.');
if (!period) continue;
if (strcmp(period, ".nff") && strcmp(period, ".dxf") && strcmp (period, ".3ds")
&& strcmp(period,".stl") && strcmp (period, ".obj")
)
continue;
/* make up path and load object */
strcpy (path, directory);
strcat (path, WTFILE_DELIM);
strcat (path, fname);
printf ("Loading: '%s'...", path);
obj = WTobject_new (path, &pq, 1.0f, FALSE, FALSE);
if (obj)
printf("done.\n");
else
printf("error.\n");
}
/* done loading close directory */
WTdirectory_close (dir);
} /* END LoadObjects */