KMTracker.h

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#include <vrecko/Ability.h>

#include <vrecko/EnvironmentObject.h>
#include <vrecko/World.h>
#include <osg/Vec2>

using namespace vrecko;

namespace navigation {

class KMTracker: public Ability {
    public:
        KMTracker();
        ~KMTracker() {};
        void preInitialize(void);
        void postInitialize(void);

        void processEvent(const std::string &input_name, VreckoMessage *message); 
        bool loadXMLParameters(XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *parametersNode);
        XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *saveXMLParameters(XERCES_CPP_NAMESPACE_QUALIFIER DOMDocument *);

        void update(void);
        
    protected:
        osg::Vec3 _actual_position, _last_position;
        World::AvatarView *av;
        osg::Vec3 avatar_position;
        osg::Vec3 avatar_look_at;
        osg::Vec3 avatar_up_vector;
        osg::Vec3 smer3d, move_direction;

        osg::Vec3 hand_position_left;
        osg::Vec3 hand_position_right;
        osg::Quat hand_orientation_left;
        osg::Quat hand_orientation_right;
        osg::Vec4 direction;

        osg::Vec2 smer;             // delta 2D smer pohybu
        double vert, horiz;         // rotace Avatara

        osg::Vec2 mouse_pos;
        osg::Vec2 old_mouse_pos;

        //  TODO not used at all??? remove?
        //bool mouse_button_left;
        //bool mouse_button_right;
        //bool mouse_button_middle;
        int mouse_scroll;

        osg::Vec2 mouse_sensitivity_avatar;
        osg::Vec2 mouse_sensitivity_hands;
        float move_step;
        float rotation_step;

        typedef enum {
            plane_xz = 0,
            plane_xy,
            plane_yz
        }Plane_type;

        Plane_type move_plane;              // rovina, ve ktere se pohybuje ruka
        bool moving, stopped;
        bool _avatarMovement;                       // Avatar/Gloves switch
        bool right_hand;                    // right/left hand switch
        bool alwaysSendOrientationWithPosition; //kdyz se posila pozice, posle se i orientace (ikdyz se nezmenila)
                                                //vice odpovida zarizeni optitrack, ktere posila pozici i orientaci zaroven

        

        int i;
        std::string mesg;
        
        World *owner;


        void KMTracker::sendSensorInfo( bool rightHand ); 



        DECLARE_OUTPUT(Orientation, MessageQuat);
        DECLARE_OUTPUT(Move, MessageVec3);
        DECLARE_OUTPUT(MoveLocal, MessageVec3);

        DECLARE_OUTPUT(PositionRight, MessageVec3);
        DECLARE_OUTPUT(PositionLeft, MessageVec3);
        DECLARE_OUTPUT(OrientationRight, MessageQuat);
        DECLARE_OUTPUT(OrientationLeft, MessageQuat);

        DECLARE_OUTPUT(ButtonLeft, MessageBool);
        DECLARE_OUTPUT(ButtonRight, MessageBool);

        DECLARE_OUTPUT(LH_ButtonLeft, MessageBool);
        DECLARE_OUTPUT(LH_ButtonRight, MessageBool);

        DECLARE_OUTPUT(Sensor_Transformation, vrecko::MessageSensorTransformation);

};
}