pose_event.h

#pragma once
 
#include "event.h"
#include "shortcut.h"
#include <cgv/math/fvec.h>
#include <cgv/math/fmat.h>
#include <cgv/math/quaternion.h>
 
#include "lib_begin.h"
 
namespace cgv {
        namespace gui {
 
class CGV_API pose_event : public event
{
public:
        typedef cgv::math::fvec<float, 3> vec3;
        typedef cgv::math::fmat<float, 3, 3> mat3;
        typedef cgv::math::fmat<float, 3, 4> mat3x4;
        typedef cgv::math::quaternion<float> quat;
protected:
        // store different indices to uniquely define trackable
        short player_index, trackable_index;
        float pose[12];
        float last_pose[12];
public:
        pose_event(const float *_pose, const float *_last_pose, unsigned short _player_index, short _trackable_index  = 0, double _time = 0);
        unsigned get_player_index() const;
        int get_trackable_index() const;
        void stream_out(std::ostream& os) const;
        void stream_in(std::istream& is);
        const mat3& get_orientation() const;
        const vec3& get_position() const;
        const mat3x4& get_pose_matrix() const;
        quat get_quaternion() const;
        const mat3& get_last_orientation() const;
        const vec3& get_last_position() const;
        const mat3x4& get_last_pose_matrix() const;
        quat get_last_quaternion() const;
        vec3 get_different() const;
        mat3 get_rotation_matrix() const;
        quat get_rotation_quaternion() const;
};
 
        }
}
 
#include <cgv/config/lib_end.h>