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 *	@(#)j3d1x1-vr 1.2 01/10/29 15:41:30
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/*
 ************************************************************************
 *  
 * Java 3D configuration file for a single screen stereo desktop display
 * using a head tracker and 6DOF mouse.
 *
 ************************************************************************
 */

// Configure the head tracker.  The NewDevice command binds a logical name
// (the 2nd argument) to an InputDevice implementation whose class name is
// specified in the 3rd argument.  The InputDevice implementation for a head
// tracker must generate position and orientation data relative to a fixed
// frame of reference in the physical world, the "tracker base" of the Java
// 3D view model.
// 
// The InputDevice is instantiated through introspection of the class name.
// Available InputDevice implementations are site-specific, so substitute
// the class name in a NewDevice command below with one that is available at
// the local site.
// 
// Note that properties are used to configure an InputDevice instead of
// attributes.  The details of an InputDevice implementation are not known to
// ConfiguredUniverse, so the property name is invoked as a method through
// introspection.  The example properties below must be replaced with the ones
// needed, if any, by specific InputDevice implementations.
// 
// All property arguments following the method name are wrapped and passed to
// the specified method as an array of Objects.  Strings "true" and "false"
// get wrapped into Boolean, and number strings get wrapped into Double.
// Construct such as (0.0 1.0 2.0) and ((0.0 1.0 2.0 0.5) (3.0 4.0 5.0 1.0)
// (6.0 7.0 8.0 0.0)) get converted to Point3d and Matrix4d respectively.
// Note that last row of a Matrix4d doesn't need to be specified; it is
// implicitly (0.0 0.0 0.0 1.0).
// 
(NewDevice      glasses LogitechRedBarron)
(DeviceProperty glasses SerialPort "/dev/ttya") // Unix paths need quoting.
(DeviceProperty glasses ReceiverBaseline     0.1450)
(DeviceProperty glasses ReceiverLeftLeg      0.0875)
(DeviceProperty glasses ReceiverHeight       0.0470)
(DeviceProperty glasses ReceiverTopOffset    0.0000)

// Configure an InputDevice to use for a 6 degree of freedom mouse if
// required.  In some implementations the same InputDevice instance can be
// used both for head tracking and multiple peripheral sensing devices.
// This example assumes an implementation that requires multiple instances,
// one for each sensor, sharing the same physical hardware used for the
// tracker base.  In either case all the sensors must generate position and
// orientation relative to the same fixed tracker base frame of reference.
// 
(NewDevice      wand    LogitechRedBarron)
(DeviceProperty wand    SerialPort "/dev/ttyb")
(DeviceProperty wand    ReceiverBaseline     0.0700)
(DeviceProperty wand    ReceiverLeftLeg      0.0625)
(DeviceProperty wand    ReceiverHeight       0.0510)
(DeviceProperty wand    ReceiverTopOffset    0.0000)

// Create logical names for the available sensors in the specified input
// devices.  The last argument is the sensor's index in the input device.
// 
(NewSensor head    glasses 0)
(NewSensor mouse6d wand    0)

// Set the 6DOF mouse sensor hotspot in the local sensor coordinate system.
// The hotspot is simply the "active" point relative to the sensor origin
// which interacts with the virtual world, such as the point used for picking
// or grabbing an object.  Its interpretation is up to the sensor behavior.
// 
// It is set here to 10 centimeters from the base to allow reaching into the
// screen without bumping the device into the glass, and to prevent the device
// itself from obscuring the pointer echo.
// 
(SensorAttribute mouse6d Hotspot (0.0 0.0 -0.10))


// Create a new screen object and associate it with a logical name and a
// number.  This number is used as an index to retrieve the AWT GraphicsDevice
// from the array that GraphicsEnvironment.getScreenDevices() returns.
// 
// NOTE: The GraphicsDevice order in the array is specific to the local
// site and display system.
// 
(NewScreen center 0)

// Set the actual available image area.  This measured as 0.350 meters in
// width and 0.245 meters in height for the monitor in the sample setup when
// running in stereo resolution.
// 
(ScreenAttribute center PhysicalScreenWidth     0.350)
(ScreenAttribute center PhysicalScreenHeight    0.245)
(ScreenAttribute center WindowSize              NoBorderFullScreen)

// Set the TrackerBaseToImagePlate transform for this screen.  This transforms
// points in tracker base coordinates to image plate coordinates.
// 
// For this sample setup the tracker base is leaning at 50 degrees about its
// X-axis over the top edge of the monitor.  The middle of the tracker base
// (its origin) is offset by (0.175, 0.345, 0.020) from the lower left
// corner of the screen (origin of the image plate).
// 
(ScreenAttribute center TrackerBaseToImagePlate
                 (RotateTranslate (Rotate    50.000 0.000 0.000)
                                  (Translate  0.175 0.345 0.020)))


// Create a physical environment.  This contains the available input devices,
// audio devices, and sensors, and defines the coexistence coordinate system.
// 
(NewPhysicalEnvironment       SampleSite)

// Register the input devices defined in this file.
// 
(PhysicalEnvironmentAttribute SampleSite InputDevice glasses)
(PhysicalEnvironmentAttribute SampleSite InputDevice wand)

// Register the sensor which will drive head tracking.
// 
(PhysicalEnvironmentAttribute SampleSite HeadTracker head)

// Define coexistence coordinates.
// 
// Coexistence coordinates are defined relative to the tracker base to simplify
// calibration measurements, just as the tracker base is used as the common
// reference frame for the TrackerBaseToImagePlate calibration.
// 
// Here the coexistence origin is set to the middle of the center screen, using
// the same basis vectors as its image plate.  This will put the tracker base
// origin at (0.0 0.220 0.020) relative to the coexistence origin along its
// basis vectors.
// 
(PhysicalEnvironmentAttribute SampleSite CoexistenceToTrackerBase
                              (TranslateRotate (Translate 0.0 -0.220 -0.020)
                                               (Rotate -50.0 0.0 0.0)))

// Define the physical body.
//
// The head origin is halfway between the eyes, with X extending to the right,
// Y up, and positive Z extending into the skull.
// 
(NewPhysicalBody       SiteUser)

// Set the interpupilary distance.  This sets the LeftEyePosition and
// RightEyePosition to offsets of half this distance along both directions of
// the X axis.
// 
(PhysicalBodyAttribute SiteUser StereoEyeSeparation 0.066)

// Define the position and orientation of the head relative to the tracker
// mounted on the head.
// 
(PhysicalBodyAttribute SiteUser HeadToHeadTracker ((1.0 0.0 0.0 0.000)
                                                   (0.0 1.0 0.0 0.020)
                                                   (0.0 0.0 1.0 0.018)))


// Create a view using the defined screens, PhysicalEnvironment, and
// PhysicalBody. 
// 
(NewView        view0)
(ViewAttribute  view0   Screen                  center)
(ViewAttribute  view0   PhysicalEnvironment     SampleSite)
(ViewAttribute  view0   PhysicalBody            SiteUser)

// Enable stereo viewing.  Enable head tracking to get the position of the eyes
// with respect to coexistence.  
// 
(ViewAttribute  view0   StereoEnable            true)
(ViewAttribute  view0   TrackingEnable          True)