pose_event.cxx

#include "pose_event.h"
#include "shortcut.h"
 
namespace cgv {
    namespace gui {
 
pose_event::pose_event(const float *_pose, const float *_last_pose, unsigned short _player_index, short _trackable_index, double _time)
    : event(EID_POSE,0,0,_time), player_index(_player_index), trackable_index(_trackable_index)
{
    std::copy(_pose, _pose + 12, pose);
    std::copy(_last_pose, _last_pose + 12, last_pose);
}
 
unsigned pose_event::get_player_index() const
{
    return player_index;
}
int pose_event::get_trackable_index() const
{
    return trackable_index;
}
void pose_event::stream_out(std::ostream& os) const
{
    event::stream_out(os);
    os << "x(" << pose[0] << "," << pose[1] << "," << pose[2] << ");";
    os << "y(" << pose[3] << "," << pose[4] << "," << pose[5] << ");";
    os << "z(" << pose[6] << "," << pose[7] << "," << pose[8] << ");";
    os << "O(" << pose[9] << "," << pose[10] << "," << pose[11] << ");";
    os << "<" << player_index << ":" << trackable_index << ">";
}
 
void pose_event::stream_in(std::istream& is)
{
    std::cerr << "not implemented" << std::endl;
}
 
const mat3& pose_event::get_orientation() const
{
    return reinterpret_cast<const mat3&>(pose[0]);
}
 
const vec3& pose_event::get_position() const
{
    return reinterpret_cast<const vec3&>(pose[9]);
}
const mat3x4& pose_event::get_pose_matrix() const
{
    return reinterpret_cast<const mat3x4&>(pose[0]);
}
quat pose_event::get_quaternion() const
{
    return quat(get_orientation());
}
const mat3& pose_event::get_last_orientation() const
{
    return reinterpret_cast<const mat3&>(last_pose[0]);
}
const vec3& pose_event::get_last_position() const
{
    return reinterpret_cast<const vec3&>(last_pose[9]);
}
const mat3x4& pose_event::get_last_pose_matrix() const
{
    return reinterpret_cast<const mat3x4&>(last_pose[0]);
}
 
quat pose_event::get_last_quaternion() const
{
    return quat(get_last_orientation());
}
 
vec3 pose_event::get_different() const
{
    return get_position() - get_last_position();
}
mat3 pose_event::get_rotation_matrix() const
{
    return get_orientation() * transpose(get_last_orientation());
}
quat pose_event::get_rotation_quaternion() const
{
    return quat(get_rotation_matrix());
}
 
    }
}