/***********************************************************************/        /***********************************************************************/
/* FreeVR OpenGL tutorial example 7: ex7_pointer.c                     */        /* FreeVR OpenGL tutorial example 7b: ex7b_multisens.c                 */
/* Last tested with: FreeVR version 0.6a                               */        /* Last tested with: FreeVR version 0.6a                               */
/* Last Modified: January 29, 2007                                     */        /* Last Modified: February 16, 2007 (before that: September 26, 2003)  */
/* URL: http://freevr.org                                              */        /* URL: http://freevr.org                                              */
/***********************************************************************/        /***********************************************************************/
/* This example code demonstrates a VR application program that        */        /* This example code demonstrates a VR application program that        */
/*   renders a pointer emanating from the wand.  Everything else is    */        /*   renders a pointer emanating from the wand plus third and fourth   */
/*   the same.                                                         */        /*   sensors as ...    The rest of the world is the standard basic one.*/
/*                                                                     */        /*                                                                     */
/*                                                                     */        /*                                                                     */
/* The new features of this example include:                           */        /* The new features of this example include:                           */
/*   - FreeVR Library functions, variables, and macros:                */        /*   - FreeVR Library functions, variables, and macros:                */
/*      * vrRenderTransform6sensor(rendinfo, )                         */        /*      * vrMatrixGet6sensor() [again]                                 */
/*   - drawing a pointer emanating from the wand                       */        /*      * vrEuler type                                                 */
/*   - uses a few more OpenGL calls                                    */        /*                                                                     */
/*   - more advanced structure to the world-database                   */        /*   - how to access additional sensors beyond the first two.          */
/*                                                                     */        /*                                                                     */
/* Considerations:                                                     */        /* Considerations:                                                     */
                                                                                 /*   - Still using the basic world                                     */
                                                                                 /*   - NOTE: this example uses the vrEuler type, which is highly       */
                                                                                 /*       discouraged with the exception of porting code from another   */
                                                                                 /*       VR library in which Euler values were used.                   */
/*                                                                     */        /*                                                                     */
/* This application uses the files:                                    */        /* This application uses the files:                                    */
/*   - shapes.c  (Bill Sherman's simple OpenGL shapes)                 */        /*   - shapes.c  (Bill Sherman's simple OpenGL shapes)                 */
/*                                                                     */        /*                                                                     */
/* Copyright 2010, William R. Sherman, All Rights Reserved.            */        /* Copyright 2010, William R. Sherman, All Rights Reserved.            */
/*   In particular, the right to republish this file in whole or in    */        /*   In particular, the right to republish this file in whole or in    */
/*   part, in any form (including electronic forms) is prohibited      */        /*   part, in any form (including electronic forms) is prohibited      */
/*   without written consent of the copyright holder.                  */        /*   without written consent of the copyright holder.                  */
/***********************************************************************/        /***********************************************************************/
#include <stdio.h>      /* needed for printf(), etc. */                          #include <stdio.h>      /* needed for printf(), etc. */
#include <stdlib.h>     /* needed for exit() */                                  #include <stdlib.h>     /* needed for exit() */
#include <signal.h>     /* needed for signal() and its arguments */              #include <signal.h>     /* needed for signal() and its arguments */
#include <unistd.h>     /* not sure why/whether this is needed */                #include <unistd.h>     /* not sure why/whether this is needed */
#include <math.h>       /* needed for sin(), cos(), fabs() & copysign() */       #include <math.h>       /* needed for sin(), cos(), fabs() & copysign() */
 
#include <GL/gl.h>      /* needed for all OpenGL functions & values */           #include <GL/gl.h>      /* needed for all OpenGL functions & values */
 
#include "freevr.h"     /* needed for FreeVR functions & values */               #include "freevr.h"     /* needed for FreeVR functions & values */
#define WAND_SENSOR     1       /* TODO: this should really be based on the c    #define WAND_SENSOR     1       /* TODO: this should really be based on the c
 
 
/* Define a structure for information about each individual object. */           /* Define a structure for information about each individual object. */
typedef struct {                                                                 typedef struct {
                float                           x, y, z;        /* location o                    float                           x, y, z;        /* location o
                GLubyte                         color[3];       /* color of t                    GLubyte                         color[3];       /* color of t
                enum { cube,pyramid,ud_pyramid }shape;          /* shape of t                    enum { cube,pyramid,ud_pyramid }shape;          /* shape of t
        } ObjectType;                                                                    } ObjectType;
 
/* Define a structure for holding a database of the virtual world. */            /* Define a structure for holding a database of the virtual world. */
typedef struct {                                                                 typedef struct {
                int             number_of_objects;              /* number of                     int             number_of_objects;              /* number of 
                ObjectType      object[3];                      /* array of o                    ObjectType      object[3];                      /* array of o
        } WorldDataType;                                                                 } WorldDataType;
 
 
/****************************************************************************    /****************************************************************************
/* These function declarations are very important -- they will be used as arg    /* These function declarations are very important -- they will be used as arg
void    exit_application(int signal);           /* cleanly close down operati    void    exit_application(int signal);           /* cleanly close down operati
 
void    init_gfx(void);                         /* initialize the graphics       void    init_gfx(void);                         /* initialize the graphics   
void    draw_world(WorldDataType *wd, vrRenderInfo *rendinfo); /* render the     void    draw_world(WorldDataType *wd, vrRenderInfo *rendinfo); /* render the 
void    init_world(WorldDataType *wd);          /* initialize the world param    void    init_world(WorldDataType *wd);          /* initialize the world param
void    update_world(WorldDataType *wd);        /* perform the world simulati    void    update_world(WorldDataType *wd);        /* perform the world simulati
 
 
/***********************************************************************/        /***********************************************************************/
main(int argc, char* argv[])                                                     main(int argc, char* argv[])
{                                                                                {
        WorldDataType   *wd;                                                             WorldDataType   *wd;
 
        /**********************************/                                             /**********************************/
        /*** initialize FreeVR routines ***/                                             /*** initialize FreeVR routines ***/
        /**********************************/                                             /**********************************/
        signal(SIGINT, SIG_IGN);                                                         signal(SIGINT, SIG_IGN);
        vrConfigure(&argc, argv, NULL);         /* allow CLAs to affect confi            vrConfigure(&argc, argv, NULL);         /* allow CLAs to affect confi
        vrStart();                                                                       vrStart();
        signal(SIGINT, exit_application);                                                signal(SIGINT, exit_application);
 
        /********************/                                                           /********************/
        /* create the world */                                                           /* create the world */
        wd = (WorldDataType *)vrShmemAlloc0(sizeof(WorldDataType));                      wd = (WorldDataType *)vrShmemAlloc0(sizeof(WorldDataType));
        init_world(wd);                                                                  init_world(wd);
 
        /***************************************/                                        /***************************************/
        /* set up the FreeVR library functions */                                        /* set up the FreeVR library functions */
        vrFunctionSetCallback(VRFUNC_DISPLAY_INIT, vrCallbackCreate(init_gfx,            vrFunctionSetCallback(VRFUNC_DISPLAY_INIT, vrCallbackCreate(init_gfx,
        vrFunctionSetCallback(VRFUNC_DISPLAY, vrCallbackCreate(draw_world, 1,            vrFunctionSetCallback(VRFUNC_DISPLAY, vrCallbackCreate(draw_world, 1,
 
        /********************************************************/                       /********************************************************/
        /* define the application name, authors, controls, etc. */                       /* define the application name, authors, controls, etc. */
        vrSystemSetName("FreeVR tutorial: example 7 -- pointer");                        vrSystemSetName("FreeVR tutorial: example 7b -- multi-sensors");
        vrSystemSetAuthors("Bill Sherman");                                              vrSystemSetAuthors("Bill Sherman");
        vrSystemSetExtraInfo("An example to show a pointer attached to the wa            vrSystemSetExtraInfo("An example to show to control/render multiple 6
        vrSystemSetStatusDescription("Application running fine");                        vrSystemSetStatusDescription("Application running fine");
        vrInputSet2switchDescription(0, "Terminate the application");                    vrInputSet2switchDescription(0, "Terminate the application");
        vrInputSet2switchDescription(1, "Raise the green pyramid");                      vrInputSet2switchDescription(1, "Raise the green pyramid");
        vrInputSet2switchDescription(2, "Reset the green pyramid");                      vrInputSet2switchDescription(2, "Reset the green pyramid");
        vrInputSet2switchDescription(3, "Lower the green pyramid");                      vrInputSet2switchDescription(3, "Lower the green pyramid");
        vrInputSetValuatorDescription(0, "Move the green pyramid in the Z-pla            vrInputSetValuatorDescription(0, "Move the green pyramid in the Z-pla
        vrInputSetValuatorDescription(1, "Move the green pyramid in the X-pla            vrInputSetValuatorDescription(1, "Move the green pyramid in the X-pla
        vrInputSet6sensorDescription(WAND_SENSOR, "Move a long cyan pointer")            vrInputSet6sensorDescription(WAND_SENSOR, "Move a long cyan pointer")
                                                                                         vrInputSet6sensorDescription(2, "Move a menu object");
                                                                                         vrInputSet6sensorDescription(3, "Move a second pointer");
 
        /***************************/                                                    /***************************/
        /*** do world simulation ***/                                                    /*** do world simulation ***/
        /***************************/                                                    /***************************/
        /* run until terminate key is pressed (Escape by default) */                     /* run until terminate key is pressed (Escape by default) */
        while(!vrGet2switchValue(0)) {                                                   while(!vrGet2switchValue(0)) {
                vrFrame();                                                                       vrFrame();
                update_world(wd);                                                                update_world(wd);
        }                                                                                }
 
        /*********************/                                                          /*********************/
        /*** close up shop ***/                                                          /*** close up shop ***/
        /*********************/                                                          /*********************/
        exit_application(0);                                                             exit_application(0);
}                                                                                }
 
 
/********************************************************************/           /********************************************************************/
/* exit_application(): clean up anything started by the application */           /* exit_application(): clean up anything started by the application */
/*   (forked processes, open files, open sockets, etc.)             */           /*   (forked processes, open files, open sockets, etc.)             */
/********************************************************************/           /********************************************************************/
void exit_application(int signal)                                                void exit_application(int signal)
{                                                                                {
        vrExit();                                                                        vrExit();
 
        exit(0);                                                                         exit(0);
}                                                                                }
 
 
 
/* ----------------8<-----------------8<-----------------8<----------------*/    /* ----------------8<-----------------8<-----------------8<----------------*/
/* In a non-example applicatation, the following would be a separate file. */    /* In a non-example applicatation, the following would be a separate file. */
 
                /**********************************/                                             /**********************************/
                /**********************************/                                             /**********************************/
                /** The World Simulation section **/                                             /** The World Simulation section **/
                /**********************************/                                             /**********************************/
                /**********************************/                                             /**********************************/
 
 
/**************************************************************/                 /**************************************************************/
/* init_world(): create the initial conditions of the dynamic */                 /* init_world(): create the initial conditions of the dynamic */
/*   simulation.                                              */                 /*   simulation.                                              */
/**************************************************************/                 /**************************************************************/
void init_world(WorldDataType *wd)                                               void init_world(WorldDataType *wd)
{                                                                                {
        int     objnum = 0;                                                              int     objnum = 0;
 
        /* object 1 - a blue cube */                                                     /* object 1 - a blue cube */
        wd->object[objnum].shape = cube;                                                 wd->object[objnum].shape = cube;
        wd->object[objnum].color[0] = 100;                                               wd->object[objnum].color[0] = 100;
        wd->object[objnum].color[1] = 100;                                               wd->object[objnum].color[1] = 100;
        wd->object[objnum].color[2] = 255;                                               wd->object[objnum].color[2] = 255;
        wd->object[objnum].x = -2.0;                                                     wd->object[objnum].x = -2.0;
        wd->object[objnum].y =  5.0;                                                     wd->object[objnum].y =  5.0;
        wd->object[objnum].z = -5.0;                                                     wd->object[objnum].z = -5.0;
        objnum++;                                                                        objnum++;
 
        /* object 2 - a red pyramid */                                                   /* object 2 - a red pyramid */
        wd->object[objnum].shape = pyramid;                                              wd->object[objnum].shape = pyramid;
        wd->object[objnum].color[0] = 255;                                               wd->object[objnum].color[0] = 255;
        wd->object[objnum].color[1] = 100;                                               wd->object[objnum].color[1] = 100;
        wd->object[objnum].color[2] = 100;                                               wd->object[objnum].color[2] = 100;
        wd->object[objnum].x =  2.0;                                                     wd->object[objnum].x =  2.0;
        wd->object[objnum].y =  5.0;                                                     wd->object[objnum].y =  5.0;
        wd->object[objnum].z = -5.0;                                                     wd->object[objnum].z = -5.0;
        objnum++;                                                                        objnum++;
 
        /* object 3 - an upside-down green pyramid */                                    /* object 3 - an upside-down green pyramid */
        wd->object[objnum].shape = ud_pyramid;                                           wd->object[objnum].shape = ud_pyramid;
        wd->object[objnum].color[0] = 100;                                               wd->object[objnum].color[0] = 100;
        wd->object[objnum].color[1] = 255;                                               wd->object[objnum].color[1] = 255;
        wd->object[objnum].color[2] = 100;                                               wd->object[objnum].color[2] = 100;
        wd->object[objnum].x =  0.0;                                                     wd->object[objnum].x =  0.0;
        wd->object[objnum].y =  5.0;                                                     wd->object[objnum].y =  5.0;
        wd->object[objnum].z = -5.0;                                                     wd->object[objnum].z = -5.0;
        objnum++;                                                                        objnum++;
 
        wd->number_of_objects = objnum;                                                  wd->number_of_objects = objnum;
}                                                                                }
 
 
/*********************************************************************/          /*********************************************************************/
/* update_world(): Basic world with simple interactions.             */          /* update_world(): Basic world with simple interactions.             */
/*********************************************************************/          /*********************************************************************/
void update_world(WorldDataType *wd)                                             void update_world(WorldDataType *wd)
{                                                                                {
#define JS_EPSILON      0.125                           /* the dead-zone befo    #define JS_EPSILON      0.125                           /* the dead-zone befo
#define MOVE_FACTOR     2.5                             /* a movement scale f    #define MOVE_FACTOR     2.5                             /* a movement scale f
static  vrTime          last_time = -1.0;               /* initially set to a    static  vrTime          last_time = -1.0;               /* initially set to a
        vrTime          sim_time = vrCurrentSimTime();  /* the current time o            vrTime          sim_time = vrCurrentSimTime();  /* the current time o
        double          delta_time;                     /* time since last up            double          delta_time;                     /* time since last up
        double          joy_x, joy_y;                   /* Joystick values */            double          joy_x, joy_y;                   /* Joystick values */
 
        /*****************************************************/                          /*****************************************************/
        /** Determine delta time from last simulation frame **/                          /** Determine delta time from last simulation frame **/
        /*****************************************************/                          /*****************************************************/
        if (last_time == -1.0)                                                           if (last_time == -1.0)
                delta_time = 0.0;                                                                delta_time = 0.0;
        else    delta_time = sim_time - last_time;                                       else    delta_time = sim_time - last_time;
        last_time = sim_time;                           /* now that delta_tim            last_time = sim_time;                           /* now that delta_tim
 
        /* skip the update if the delta isn't big enough */                              /* skip the update if the delta isn't big enough */
        if (delta_time <= 0.0)  /* can also choose a non-zero epsilon */                 if (delta_time <= 0.0)  /* can also choose a non-zero epsilon */
                return;                                                                          return;
 
        /****************************************/                                       /****************************************/
        /* Move the objects with constant speed */                                       /* Move the objects with constant speed */
 
        /* object 1 travels in a horizontal circle at a fixed speed */                   /* object 1 travels in a horizontal circle at a fixed speed */
        wd->object[0].x = 3*sin(sim_time * 2.0);                                         wd->object[0].x = 3*sin(sim_time * 2.0);
        wd->object[0].z = 3*cos(sim_time * 2.0) - 5.0;                                   wd->object[0].z = 3*cos(sim_time * 2.0) - 5.0;
 
        /* object 2 travels in a verticle circle at a fixed speed */                     /* object 2 travels in a verticle circle at a fixed speed */
        wd->object[1].x = 3*cos(sim_time * 2.0);                                         wd->object[1].x = 3*cos(sim_time * 2.0);
        wd->object[1].y = 3*sin(sim_time * 2.0) + 5.0;                                   wd->object[1].y = 3*sin(sim_time * 2.0) + 5.0;
 
        /**************************/                                                     /**************************/
        /* User interface section */                                                     /* User interface section */
 
        /* the first button moves the object up, when initially pressed */               /* the first button moves the object up, when initially pressed */
        if (vrGet2switchDelta(1) == 1) {                                                 if (vrGet2switchDelta(1) == 1) {
                wd->object[2].y += 1.0;                                                          wd->object[2].y += 1.0;
        }                                                                                }
 
        /* the second button resets the object's location, when initially pre            /* the second button resets the object's location, when initially pre
        if (vrGet2switchDelta(2) == 1) {                                                 if (vrGet2switchDelta(2) == 1) {
                wd->object[2].x =  0.0;                                                          wd->object[2].x =  0.0;
                wd->object[2].y =  5.0;                                                          wd->object[2].y =  5.0;
                wd->object[2].z = -5.0;                                                          wd->object[2].z = -5.0;
        }                                                                                }
 
        /* the third button moves the object down, when initially pressed */             /* the third button moves the object down, when initially pressed */
        if (vrGet2switchDelta(3) == 1) {                                                 if (vrGet2switchDelta(3) == 1) {
                wd->object[2].y -= 1.0;                                                          wd->object[2].y -= 1.0;
        }                                                                                }
 
        /* store input values so they are consistent throughout update routin            /* store input values so they are consistent throughout update routin
        joy_x = vrGetValuatorValue(0);                                                   joy_x = vrGetValuatorValue(0);
        joy_y = vrGetValuatorValue(1);                                                   joy_y = vrGetValuatorValue(1);
 
        /* now use those values to move the object */                                    /* now use those values to move the object */
        if (fabs(joy_x) > JS_EPSILON)                                                    if (fabs(joy_x) > JS_EPSILON)
                wd->object[2].x += joy_x * delta_time * MOVE_FACTOR;                             wd->object[2].x += joy_x * delta_time * MOVE_FACTOR;    
 
        if (fabs(joy_y) > JS_EPSILON)                                                    if (fabs(joy_y) > JS_EPSILON)
                wd->object[2].z -= (joy_y-copysign(JS_EPSILON,joy_y)) * delta                    wd->object[2].z -= (joy_y-copysign(JS_EPSILON,joy_y)) * delta
 
        /****************************************************/                           /****************************************************/
        /* yield to allow other processes access to the CPU */                           /* yield to allow other processes access to the CPU */
        vrSleep(0);                                                                      vrSleep(0);
}                                                                                }
 
 
 
/* ----------------8<-----------------8<-----------------8<----------------*/    /* ----------------8<-----------------8<-----------------8<----------------*/
/* In a non-example applicatation, the following would be a separate file. */    /* In a non-example applicatation, the following would be a separate file. */
 
                /**************************/                                                     /**************************/
                /**************************/                                                     /**************************/
                /** The Graphics section **/                                                     /** The Graphics section **/
                /**************************/                                                     /**************************/
                /**************************/                                                     /**************************/
 
/* functions from shapes.c */                                                    /* functions from shapes.c */
void    draw_cube();                                                             void    draw_cube();
void    draw_pyramid();                                                          void    draw_pyramid();
void    draw_cube_outline();                                                     void    draw_cube_outline();
void    draw_pyramid_outline();                                                  void    draw_pyramid_outline();
 
 
/*********************************************************************/          /*********************************************************************/
/* init_gfx(): initialize general graphics properties (eg. lighting) */          /* init_gfx(): initialize general graphics properties (eg. lighting) */
/*********************************************************************/          /*********************************************************************/
void init_gfx(void)                                                              void init_gfx(void)
{                                                                                {
        GLfloat location_0[4] = { 0.0, 10.0, 10.0, 1.0 /* 0 = directional, 1             GLfloat location_0[4] = { 0.0, 10.0, 10.0, 1.0 /* 0 = directional, 1 
                ambient_0[4] = { 0.2, 0.2, 0.2, 1.0 },                                           ambient_0[4] = { 0.2, 0.2, 0.2, 1.0 },
                diffuse_0[4] = { 0.8, 0.8, 0.8, 1.0 },                                           diffuse_0[4] = { 0.8, 0.8, 0.8, 1.0 },
                specular_0[4] = { 0.2, 0.2, 0.2, 1.0 };                                          specular_0[4] = { 0.2, 0.2, 0.2, 1.0 };
 
        /****************************************/                            
        /* set the render initialization values */                            
        glClearColor(0.0, 0.0, 0.0, 0.0);                                     
        glClearDepth(1.0);                                                    
                                                                              
        /********************************************************/                       /********************************************************/
        /* set the polygon shading/lighting/material parameters */                       /* set the polygon shading/lighting/material parameters */
        glShadeModel(GL_SMOOTH);                                                         glShadeModel(GL_SMOOTH);
 
        glEnable(GL_LIGHTING);                                                           glEnable(GL_LIGHTING);
 
        glLightfv(GL_LIGHT0, GL_POSITION, location_0);                                   glLightfv(GL_LIGHT0, GL_POSITION, location_0);
        glLightfv(GL_LIGHT0, GL_AMBIENT, ambient_0);                                     glLightfv(GL_LIGHT0, GL_AMBIENT, ambient_0);
        glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuse_0);                                     glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuse_0);
        glLightfv(GL_LIGHT0, GL_SPECULAR, specular_0);                                   glLightfv(GL_LIGHT0, GL_SPECULAR, specular_0);
        glEnable(GL_LIGHT0);                                                             glEnable(GL_LIGHT0);
 
        /* These two lines cause the vertex colors to be used (otherwise all             /* These two lines cause the vertex colors to be used (otherwise all 
        glColorMaterial(GL_FRONT, GL_AMBIENT_AND_DIFFUSE);                               glColorMaterial(GL_FRONT, GL_AMBIENT_AND_DIFFUSE);
        glEnable(GL_COLOR_MATERIAL);                                                     glEnable(GL_COLOR_MATERIAL);
 
        glEnable(GL_NORMALIZE); /* this is required when calling glScalef() w            glEnable(GL_NORMALIZE); /* this is required when calling glScalef() w
 
        /***************************/                                                    /***************************/
        /* set the line parameters */                                                    /* set the line parameters */
        glEnable(GL_LINE_SMOOTH);                                                        glEnable(GL_LINE_SMOOTH);
        glLineWidth(2.0);                                                                glLineWidth(2.0);
}                                                                                }
 
 
/*******************************************************************/            /*******************************************************************/
/* draw_world(): Now will render how ever many objects are in the  */            /* draw_world(): Now will render how ever many objects are in the  */
/*   world data structure.  The color, type (and maybe rotation)   */            /*   world data structure.  The color, type (and maybe rotation)   */
/*   are all now stored for each object, in addition to location.  */            /*   are all now stored for each object, in addition to location.  */
/*******************************************************************/            /*******************************************************************/
void draw_world(WorldDataType *wd, vrRenderInfo *rendinfo)                       void draw_world(WorldDataType *wd, vrRenderInfo *rendinfo)
{                                                                                {
static  GLfloat         location_0[4] = { 0.0, 10.0, 0.0, 1.0 /* 0 = directio    static  GLfloat         location_0[4] = { 0.0, 10.0, 0.0, 1.0 /* 0 = directio
static  char            msg[128];                       /* memory for text st    static  char            msg[128];                       /* memory for text st
                                                                                         vrEuler         menu_sensor;                    /* Euler values for s
        int             objnum;                         /* object counter */             int             objnum;                         /* object counter */
 
        /**************************************/                                         /**************************************/
        /* clear the screen -- very important */                                         /* clear the screen -- very important */
                                                                                         glClearColor(0.0, 0.0, 0.0, 0.0);
                                                                                         glClearDepth(1.0);
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);                              glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 
        /********************************************************************            /********************************************************************
        /* update the light's location -- must be done independently for each            /* update the light's location -- must be done independently for each
        glLightfv(GL_LIGHT0, GL_POSITION, location_0);                                   glLightfv(GL_LIGHT0, GL_POSITION, location_0);
 
        /******************************************/                                     /******************************************/
        /* draw a pointer emanating from the wand */                                     /* draw a pointer emanating from the wand */
        glPushMatrix();                                                                  glPushMatrix();
                glColor3ub(100, 255, 255);      /* cyan */                                       glColor3ub(100, 255, 255);      /* cyan */
                vrRenderTransform6sensor(rendinfo, WAND_SENSOR);                                 vrRenderTransform6sensor(rendinfo, WAND_SENSOR);
                glRotatef(-90.0, 1.0, 0.0, 0.0);                                                 glRotatef(-90.0, 1.0, 0.0, 0.0);
                glScalef(0.1, 1.5, 0.1);                                                         glScalef(0.1, 1.5, 0.1);
                glTranslatef(0.0, 1.0, 0.0);                                                     glTranslatef(0.0, 1.0, 0.0);
                draw_pyramid_outline();                                                          draw_pyramid_outline();
        glPopMatrix();                                                                   glPopMatrix();
 
                                                                                         /**************************************************/
                                                                                         /* draw a plane (representing a menu) at sensor 2 */
                                                                                         glPushMatrix();
                                                                                                 vrRenderTransform6sensor(rendinfo, 2);
                                                                                                 glTranslatef(0.0, 0.15, 1.2);
                                                                                                 glRotatef(90.0, 0.0, 0.0, 1.0);
                                                                                                 glScalef(0.01, 0.3, 0.4);
                                                                                                 glTranslatef(0.0, 0.0, 0.0);
                                                                                                 glColor3ub(170, 109, 42);       /* brown */
                                                                                                 draw_cube_outline();
                                                                                         glPopMatrix();
                                                                                
                                                                                         /********************************************************************
                                                                                         /* draw a pointer emanating from the second wand (sensor 3) using Eul
                                                                                         glPushMatrix();
                                                                                                 vrEulerGetRWFrom6sensor(&menu_sensor, 3);
                                                                                                 glTranslatef(menu_sensor.t[VR_X], menu_sensor.t[VR_Y], menu_s
                                                                                
                                                                                                 /* NOTE: due to the nature of Euler angles, this ordering is 
                                                                                                 glRotatef(menu_sensor.r[VR_ELEV], 0.0, 1.0, 0.0);
                                                                                                 glRotatef(menu_sensor.r[VR_AZIM], 1.0, 0.0, 0.0);
                                                                                                 glRotatef(menu_sensor.r[VR_ROLL], 0.0, 0.0, 1.0);
                                                                                                 /* we are now in the sensor-2 coordinate system */
                                                                                
                                                                                                 glRotatef(-90.0, 1.0, 0.0, 0.0);
                                                                                                 glScalef(0.1, 1.5, 0.1);
                                                                                                 glTranslatef(0.0, 1.0, 0.0);
                                                                                                 glColor3ub(255, 255, 100);      /* yellow */
                                                                                                 draw_pyramid_outline();
                                                                                         glPopMatrix();
                                                                                
        /************************/                                                       /************************/
        /* draw all the objects */                                                       /* draw all the objects */
 
        for (objnum = 0; objnum < wd->number_of_objects; objnum++) {                     for (objnum = 0; objnum < wd->number_of_objects; objnum++) {
 
                glColor3ubv(wd->object[objnum].color);                                           glColor3ubv(wd->object[objnum].color);
                glPushMatrix();                                                                  glPushMatrix();
                        glTranslatef(wd->object[objnum].x, wd->object[objnum]                            glTranslatef(wd->object[objnum].x, wd->object[objnum]
                        switch (wd->object[objnum].shape) {                                              switch (wd->object[objnum].shape) {
                        case cube:                                                                       case cube:
                                draw_cube();                                                                     draw_cube();
                                break;                                                                           break;
                        case pyramid:                                                                    case pyramid:
                                draw_pyramid();                                                                  draw_pyramid();
                                break;                                                                           break;
                        case ud_pyramid:                                                                 case ud_pyramid:
                                glScalef(1.0, -1.0, 1.0);                                                        glScalef(1.0, -1.0, 1.0);
                                draw_pyramid();                                                                  draw_pyramid();
                                break;                                                                           break;
                        }                                                                                }
                glPopMatrix();                                                                   glPopMatrix();
        }                                                                                }
 
        /*************************************************/                              /*************************************************/
        /* draw text indicating the location of object 3 */                              /* draw text indicating the location of object 3 */
        sprintf(msg, "Green pyramid is at %.2f %.2f %.2f", wd->object[2].x, w            sprintf(msg, "Green pyramid is at %.2f %.2f %.2f", wd->object[2].x, w
 
        glDisable(GL_LIGHTING);         /* make the text bright regardless of            glDisable(GL_LIGHTING);         /* make the text bright regardless of
        glColor3ub(255, 255, 255);      /* white */                                      glColor3ub(255, 255, 255);      /* white */
        glPushMatrix();                                                                  glPushMatrix();
                glTranslatef(-4.0, 7.0, -5.0);  /* on the front screen */                        glTranslatef(-4.0, 7.0, -5.0);  /* on the front screen */
 
                glRasterPos3f(0.0, 0.0, 0.0);   /* go to the 3D location */                      glRasterPos3f(0.0, 0.0, 0.0);   /* go to the 3D location */
                vrRenderText(rendinfo, msg);                                                     vrRenderText(rendinfo, msg);
        glPopMatrix();                                                                   glPopMatrix();
        glEnable(GL_LIGHTING);                                                           glEnable(GL_LIGHTING);
}                                                                                }