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room6d.H

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#ifndef _room6d_H_
#define _room6d_H_

#include "std/config.H" // for Greal
#include "event/event.H"
#include "dev/dev.H"

MAKE_PTR_SUBC(EVENTroom6d, EVENT);


class Wtransf;
typedef const Wtransf cWtransf;
typedef Greal RAWmat[4][4];

class DllImpExp EVENTroom6d : public EVENT {
   virtual bool compare(cEVENTptr &e) const { return true; }
   cWtransf &_cur, &_old;
   double    _time;

 public:
             EVENTroom6d(Cstr_ptr &n);
             EVENTroom6d(cEVENTsource *s);
             EVENTroom6d(cEVENTsource *s, cWtransf &o, cWtransf &c, double t): 
                                   EVENT(s),_cur(c),_old(o),_time(t)  { }

   // all transformations represent mappings from device coordinates to
   // ROOM coordinates.   If you want a mapping from device coordinates
   // to world coordinates, either use a DEVice_6d, or multiply the
   // ROOM coordinate transformation by the current MathTranslate's 
   // ROOM_TO_WORLD transformation.

   cWtransf &cur()   const   { return _cur; }
   cWtransf &old()   const   { return _old; }
   Wtransf   delta() const;
   double    time()  const   { return _time; }


   //  alternate interface that avoids having to include any mlib files
   void      cur  (RAWmat &d, bool row=true) const;
   void      old  (RAWmat &d, bool row=true) const;
   void      delta(RAWmat &d, bool row=true) const;

   DEFINE_DERIVED_TYPE(EVENTroom6d, EVENT, cEVENTptr);

   static EVENTroom6dptr cast(cEVENTptr &e) { return EVENTroom6d::isa(e) ? 
                                                 (EVENTroom6d *)&*e : 0; }
};

//
//   EVENTroom6d_vr - 
//
//
MAKE_PTR_SUBC(EVENTroom6d_vr, EVENTroom6d);
class DllImpExp EVENTroom6d_vr : public EVENTroom6d {

  protected:
    cWtransf    &_head;

  public:

             EVENTroom6d_vr(Cstr_ptr &n);
             EVENTroom6d_vr(cEVENTsource *s);
             EVENTroom6d_vr(cEVENTsource *s, cWtransf &o, cWtransf &c, cWtransf &h, double t=0);

    cWtransf  &head() const;


    /* ----------- TYPEDOBJ methods --------------- */
    DEFINE_DERIVED_TYPE(EVENTroom6d_vr, EVENTroom6d, cEVENTptr);
    static EVENTroom6d_vrptr cast(cEVENTptr &e) { return EVENTroom6d_vr::isa(e) ?
                                                 (EVENTroom6d_vr *)&*e : 0; }
};

class DllImpExp DEVice_room6d : public DEVice {
 protected:
   Wtransf  &_cur;           /* tracker->room transform */
   int       _report_normalized_xforms; /* remove scale from rotation? */

 public:
static  ARRAY<DEVice_room6d *> devs;

                DEVice_room6d(Cstr_ptr &root);
   virtual     ~DEVice_room6d()                     { devs -= this; }

   cWtransf    &cur()                         const { return _cur; }
   void         cur(RAWmat &d, bool row=true) const;
   
   virtual void event(cWtransf &, double time=-1);

    /* ----------- TYPEDOBJ methods --------------- */
    DEFINE_DERIVED_TYPE(DEVice_room6d, DEVice, const DEVice *);
};

#endif

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