ElasticFilterNode.cxx
Go to the documentation of this file.00001 /* ======================================================================== 00002 * Copyright (c) 2006, 00003 * Institute for Computer Graphics and Vision 00004 * Graz University of Technology 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions are 00009 * met: 00010 * 00011 * Redistributions of source code must retain the above copyright notice, 00012 * this list of conditions and the following disclaimer. 00013 * 00014 * Redistributions in binary form must reproduce the above copyright 00015 * notice, this list of conditions and the following disclaimer in the 00016 * documentation and/or other materials provided with the distribution. 00017 * 00018 * Neither the name of the Graz University of Technology nor the names of 00019 * its contributors may be used to endorse or promote products derived from 00020 * this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 00023 * IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 00024 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 00025 * PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER 00026 * OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 00027 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 00028 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 00029 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 00030 * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 00031 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00032 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00033 * ======================================================================== 00034 * PROJECT: OpenTracker 00035 * ======================================================================== */ 00042 /* ======================================================================= */ 00043 00044 // this will remove the warning 4786 00045 #include "../tool/disable4786.h" 00046 00047 #include "ElasticFilterNode.h" 00048 00049 00050 #ifndef OT_NO_ELASTICFILTER_SUPPORT 00051 00052 00053 namespace ot { 00054 00055 // constructor method 00056 ElasticFilterNode::ElasticFilterNode( float force_, float damp_, int frequency_, int offset_ ) 00057 : currentEvent(), vEvent() 00058 { 00059 frequency = frequency_; 00060 offset = offset_; 00061 00062 force = force_; 00063 damp = damp_; 00064 00065 init = false; 00066 } 00067 00068 // tests the confidence value and only forwards passing events 00069 void ElasticFilterNode::onEventGenerated( Event& event, Node & generator ) 00070 { 00071 //printf("ElasticFilterNode::onEventGenerated() \n"); 00072 if (!init){ 00073 currentEvent = event; 00074 init = true; 00075 00076 } 00077 targetEvent = event; 00078 // we have to pass on the other information as well 00079 currentEvent.getButton() = event.getButton(); 00080 currentEvent.getConfidence() = event.getConfidence(); 00081 } 00082 00083 void ElasticFilterNode::push() { 00084 // maybe we should us absolute timing, but for now we try without 00085 // double curTime = OSUtils::currentTime(); 00086 // double dt = lastTime - curTime; 00087 if (init) { 00088 //printf("ElasticFilterNode::push() \n"); 00089 00090 Event dEvent; 00091 00092 // calculate current offset from target 00093 dEvent.getPosition()[0] = targetEvent.getPosition()[0] - currentEvent.getPosition()[0]; 00094 dEvent.getPosition()[1] = targetEvent.getPosition()[1] - currentEvent.getPosition()[1]; 00095 dEvent.getPosition()[2] = targetEvent.getPosition()[2] - currentEvent.getPosition()[2]; 00096 00097 // calculate velocity 00098 vEvent.getPosition()[0] += (float)(dEvent.getPosition()[0] * force * 0.1); 00099 vEvent.getPosition()[1] += (float)(dEvent.getPosition()[1] * force * 0.1); 00100 vEvent.getPosition()[2] += (float)(dEvent.getPosition()[2] * force * 0.1); 00101 00102 // damp velocity 00103 vEvent.getPosition()[0] *= 1.0f - damp; 00104 vEvent.getPosition()[1] *= 1.0f - damp; 00105 vEvent.getPosition()[2] *= 1.0f - damp; 00106 00107 // add velocity to current event 00108 currentEvent.getPosition()[0] += vEvent.getPosition()[0]; 00109 currentEvent.getPosition()[1] += vEvent.getPosition()[1]; 00110 currentEvent.getPosition()[2] += vEvent.getPosition()[2]; 00111 00112 MathUtils::slerp(currentEvent.getOrientation(), targetEvent.getOrientation(), force*(1-damp)*0.1f, dEvent.getOrientation()); 00113 00114 for (int i=0; i< 4; i++) 00115 currentEvent.getOrientation()[i] = dEvent.getOrientation()[i]; // copy ?? 00116 00117 currentEvent.timeStamp(); 00118 updateObservers(currentEvent); 00119 } 00120 } 00121 00122 } // namespace ot 00123 00124 00125 #else 00126 #pragma message(">>> OT_NO_BUTTON_SUPPORT") 00127 #endif //OT_NO_ELASTICFILTER_SUPPORT 00128 00129 00130 /* 00131 * ------------------------------------------------------------ 00132 * End of ElasticFilterNode.cxx 00133 * ------------------------------------------------------------ 00134 * Automatic Emacs configuration follows. 00135 * Local Variables: 00136 * mode:c++ 00137 * c-basic-offset: 4 00138 * eval: (c-set-offset 'substatement-open 0) 00139 * eval: (c-set-offset 'case-label '+) 00140 * eval: (c-set-offset 'statement 'c-lineup-runin-statements) 00141 * eval: (setq indent-tabs-mode nil) 00142 * End: 00143 * ------------------------------------------------------------ 00144 */