static void Draw(float Dt)
        {
            WorldSurface.Draw(Default);

            if (Program.RenderVoxels)
            {
                ShaderUniforms.Model = Matrix4x4.CreateTranslation(-Program.WorldOrigin);
                DefaultFlatColor.Bind();
                Voxels.VoxMesh.Draw();
                DefaultFlatColor.Unbind();
            }

            Matrix4x4 TransRot = OptotrakClient.GetRotation() * OptotrakClient.GetTranslation(); // This is the transformation matrix for rendering of the plane

            ShaderUniforms.Model = Matrix4x4.CreateScale(10) * TransRot;                         // Translates, rotates and scales the plane to appropriate size.
            Default.Bind();
            Plane.Draw();
            Default.Unbind();

            if (Program.RenderPoints)
            {
                RealSenseClient.GetVerts(ref Points);
                ShaderUniforms.Model = Matrix4x4.Identity;
                DefaultFlatColor.Bind();
                Points.Draw();
                DefaultFlatColor.Unbind();
            }

            DrawPin(PinMat1, LegClient.R_Start - Program.WorldOrigin);
            DrawPin(PinMat2, LegClient.R_End - Program.WorldOrigin);

            DrawPin(PinMat1, LegClient.L_Start - Program.WorldOrigin);
            DrawPin(PinMat2, LegClient.L_End - Program.WorldOrigin);
        }
Ejemplo n.º 2
0
        static void Main(string[] Args)
        {
            LoadConfig();

            int VoxelsX = (int)(Treadmill_X / VoxelSize);
            int VoxelsY = (int)(Treadmill_Y / VoxelSize);
            int VoxelsZ = (int)(Treadmill_Z / VoxelSize);

            WorldOrigin  = new Vector3(Treadmill_X, 0, 0);
            CameraHeight = new Vector3(0, PelvisHeight, 0);

            Console.Spawn(Args.Contains("--console") || SpawnConsole);

            OptotrakClient.Init(40023);
            LegClient.Init(40024);

            RenderWindow.Init(60, Treadmill_X, Treadmill_Z);
            Voxels.Init(VoxelsX, VoxelsY, VoxelsZ, VoxelSize);
            RealSenseClient.Init();

            while (RenderWindow.Tick())
            {
                // Additional logic which should execute per-frame goes here

                if (!UseThreading)
                {
                    RealSenseClient.Loop();
                }
            }
        }
Ejemplo n.º 3
0
        static void Main(string[] Args)
        {
            LoadConfig();

            int VoxelsX = (int)(Treadmill_X / VoxelSize);
            int VoxelsY = (int)(Treadmill_Y / VoxelSize);
            int VoxelsZ = (int)(Treadmill_Z / VoxelSize);

            WorldOrigin  = new Vector3(Treadmill_X, 0, 0);            // Shifts the world origin to the left side (the actual render window 0,0,0 is in the right corner)
            CameraHeight = new Vector3(0, PelvisHeight, 0);           // the distance from the floor to the camera

            Console.Spawn(Args.Contains("--console") || SpawnConsole);

            OptotrakClient.Init(40023);        // initializes optotrack client and starts a thread for it. Starts also a thread for UDP (on port 40023)
            LegClient.Init(40024);             // The same as above but for MVN Analyze

            RenderWindow.Init(60, Treadmill_X, Treadmill_Z);
            Voxels.Init(VoxelsX, VoxelsY, VoxelsZ, VoxelSize);
            RealSenseClient.Init();

            while (RenderWindow.Tick())
            {
                // Additional logic which should execute per-frame goes here

                if (!UseThreading)
                {
                    RealSenseClient.Loop();
                }
            }
        }