ScaleViz/interaction/SoTrackerReader.h

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**=======================================================================*/
/*=======================================================================
** Author      : Nicolas DAGUISE (Dec 2006)
**=======================================================================*/



#ifndef SO_TRACKER_READER_H
#define SO_TRACKER_READER_H

#include <Inventor/SbLinear.h>
#include <Inventor/errors/SoDebugError.h>

#include <ScaleViz/SoScaleViz.h>

class  SoTrackerReader
{

 public:

  
  SoTrackerReader(int);

  virtual ~SoTrackerReader();

  int getNumberOfSensors();

  void getPosition( int id, float* pos );

  SbVec3f getPosition( int id );

  void getEulerAngles( int id, float* orn );

  SbVec3f getEulerAngles( int id );

  void getMatrix( int id, float mat[4][4] );

  SbMatrix getMatrix( int id );

  SbBool isLoadSuccess() {return loadSucceed; }  

  SbBool isInitSuccess() {return initSucceed; }
  
  void setTransformMatrix( int id, SbMatrix RealToWorld );

  SbMatrix getTransformMatrix( int id );
  
  void setUnitScaleFactor( float );

  float getUnitScaleFactor();

 private:

  void* tracker; 
  void* (*soTrackdInitTrackerReader)( int );
  int (*soTrackdGetNumberOfSensors)( void* );
  void (*soTrackdGetPosition)(void*, int, float* );
  void (*soTrackdGetEulerAngles)( void*, int, float* );
  void (*soTrackdGetMatrix)( void*, int, float[4][4] );
 
 private:

  SbBool loadSucceed;
  SbBool initSucceed;
  
  SbBool loadTrackdAPI();
  
  // real coordinates to 3D world coordinates transformation matrices
  // there is one matrix per sensor.
  SbMatrix* R2WMatrix;
  
  float unitScaleFactor;
};

#endif // SO_TRACKER_READER_H

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