Initial Commit

Assets/Imstk/Scripts/Devices/TrackingDevice.cs

@@ -0,0 +1,105 @@
+/*=========================================================================
+
+   Library: iMSTK-Unity
+
+   Copyright (c) Kitware, Inc. 
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+      http://www.apache.org/licenses/LICENSE-2.0.txt
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+=========================================================================*/
+
+using UnityEngine;
+
+namespace ImstkUnity
+{
+    enum ButtonState
+    {
+        // From Imstk
+        BUTTON_RELEASED = 0,
+        BUTTON_TOUCHED  = 1,
+        BUTTON_UNTOUCHED = 2,
+        BUTTON_PRESSED = 3
+    }
+
+
+    public abstract class TrackingDevice : MonoBehaviour
+    {
+        Imstk.DeviceClient trackingDevice = null;
+
+        public Vector3 GetPosition()
+        {
+            Imstk.Vec3d pos = trackingDevice.getPosition();
+            return pos.ToUnityVec();
+        }
+        public Quaternion GetOrientation()
+        {
+            Imstk.Quatd quat = trackingDevice.getOrientation();
+            return quat.ToUnityQuat();
+        }
+
+        public Vector3 GetForce()
+        {
+            Imstk.Vec3d vec = trackingDevice.getForce();
+            return vec.ToUnityVec();
+        }
+
+        public bool IsButtonDown(int id)
+        {
+            var val = trackingDevice.getButton(id);
+            if (val == (int)ButtonState.BUTTON_PRESSED || val == (int)ButtonState.BUTTON_TOUCHED) return true;
+            else return false;
+        }
+
+        public int[] GetButtons()
+        {
+            var result = new int[8];
+
+            for (int i = 0; i<8;++i)
+            {
+                result[i] = trackingDevice.getButton(i);
+            }
+            var b = trackingDevice.getButtons();
+            return result;
+        }
+
+        public float GetAnalog(int id)
+        {
+            var values = trackingDevice.getAnalog();
+            if (values.Count > id) return (float)values[id];
+            else
+            {
+                Debug.LogWarning("Id " + id.ToString() + " not found ");
+                return 0;
+            }
+        }
+
+        protected abstract Imstk.DeviceClient MakeDevice();
+
+        public void Update()
+        {
+            // This is not directly used, but displayed
+            Transform transform = gameObject.GetComponentFatal<Transform>();
+            transform.SetPositionAndRotation(GetPosition(), GetOrientation());
+        }
+
+        public Imstk.DeviceClient GetDevice()
+        {
+            if (trackingDevice == null)
+            {
+                trackingDevice = MakeDevice();
+                trackingDevice.setButtonsEnabled(true);
+            }
+            return trackingDevice;
+        }
+    }
+}