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Changeset 1913

Timestamp:

05/12/00 17:15:53 (9 years ago)

Author:

kevn

Message:

pfNav now works with the new navigation system
pfNav is very much like the old CAVE style one now.

Files:

trunk/juggler_1.0/samples/pf/pfNav/Makefile.in (modified) (2 diffs)
trunk/juggler_1.0/samples/pf/pfNav/pfNav.cpp (modified) (11 diffs)
trunk/juggler_1.0/samples/pfNav/Makefile.in (modified) (2 diffs)
trunk/juggler_1.0/samples/pfNav/pfNav.cpp (modified) (11 diffs)

Legend:

: Unmodified
: Added
: Removed
: Modified
: Copied
: Moved

trunk/juggler_1.0/samples/pf/pfNav/Makefile.in

r1891	r1913
12	12	COMPILE = @CXX@ @DEFS@ $(VJ_INCLUDES) @CPPFLAGS@ @CXXFLAGS@ @DBG_FLAGS@
13	13	LINK = @CXX@ @CPPFLAGS@ @CXXFLAGS@ @EXTRA_LINK_FLAGS@
14		VJ_INCLUDES = @INCLUDES@ -I$(VJ_BASE_DIR)/include -I$(srcdir) -I$(srcdir)/../nav
	14	VJ_INCLUDES = @INCLUDES@ -I$(VJ_BASE_DIR)/include -I$(VJ_BASE_DIR)/include/Math -I$(srcdir) -I$(srcdir)/../nav
15	15	VJ_LIBS = @TEST_VJ_LIBS_BASIC@ @TEST_VJ_LIBS_GL@ @TEST_VJ_LIBS_PF@ @TEST_LIBS_BASIC@
16	16	VPATH = @srcdir@
…	…
30	30	EXTRA_LIBS = @TEST_EXTRA_LIBS_BASIC@ @TEST_EXTRA_LIBS_PF@ @TEST_EXTRA_LIBS_GL@
31	31
32		OBJECTS = pfNav.@OBJ_FILE_SUFFIX@
	32	OBJECTS = pfNav.@OBJ_FILE_SUFFIX@ ../nav/pfTerryCollide.@OBJ_FILE_SUFFIX@ ../nav/pfTerryPogoCollide.@OBJ_FILE_SUFFIX@ ../nav/pfTerryBoxCollide.@OBJ_FILE_SUFFIX@
33	33
34	34	# -----------------------------------------------------------------------------

trunk/juggler_1.0/samples/pf/pfNav/pfNav.cpp

r1888	r1913
49	49	// --- VR Juggler Stuff --- //
50	50	#include <Kernel/vjKernel.h>
51		#include <Kernel/Pf/vjPfApp.h>
	51	#include <Kernel/Pf/vjPfApp.h> // the performer application base type
52	52	#include <Kernel/vjDebug.h>
53		#include <Kernel/vjProjection.h>
54
55		#include <pfNaver.h>
56		#include <collidor.h>
57		#include <planeCollidor.h>
58		#include <pfCollidor.h>
	53	#include <Kernel/vjProjection.h> // for setNearFar (for setting clipping planes)
	54	#include <Input/InputManager/vjPosInterface.h>
	55	#include <Input/InputManager/vjDigitalInterface.h>
	56
	57
	58	// nav includes
	59	#include <CaveNavigator.h>
	60	#include <collider.h>
	61	#include <planeCollider.h>
	62	#include <pfPogoCollider.h>
	63	#include <pfRayCollider.h>
	64	#include <pfBoxCollider.h>
59	65
60	66	char* filename = NULL;
…	…
62	68
63	69	// Declare my application class
64		class ~~myApp~~ : public vjPfApp
	70	class pfNavJugglerApplication : public vjPfApp
65	71	{
66	72	public:
67		myApp(vjKernel* kern) : vjPfApp(kern)
68		{
69		//rotation = 0.0f;
70		//zPos = 0.0f;
	73	pfNavJugglerApplication( vjKernel* kern ) : mFpsEmitCount(0), vjPfApp( kern )
	74	{
	75	// get a valid time on the stopwatch...
	76	stopWatch.stop();
	77	stopWatch.start();
71	78	}
72	79
…	…
75	82	vjDEBUG(vjDBG_ALL, 1) << "app::init\n" << vjDEBUG_FLUSH;
76	83	vjProjection::setNearFar(0.5, 1000);
	84
	85	mWand.init( "VJWand" );
	86	mHead.init( "VJHead" );
	87	mActionButton.init( "VJButton0" );
	88	mActionButton2.init( "VJButton1" );
	89	mModeChangeButton.init( "VJButton2" );
77	90	}
78	91
…	…
86	99	// Initialize type system
87	100	vjDEBUG(vjDBG_ALL,1) << "app::preForkInit: Initializing new types.\n" << vjDEBUG_FLUSH;
88		~~pfNaver::init();~~
89	101
90	102	// Initialize loaders
91		}
92
	103	pfdInitConverter("terrain.flt");
	104	}
	105
	106	inline void textures( bool state ) const
	107	{
	108	if (state == true)
	109	{
	110	pfEnable( PFEN_TEXTURE );
	111	pfOverride(PFSTATE_ENTEXTURE, PF_ON);
	112	}
	113
	114	else
	115	{
	116	pfDisable( PFEN_TEXTURE );
	117	pfOverride(PFSTATE_ENTEXTURE, PF_OFF);
	118	}
	119	}
	120
93	121	/// Initialize the scene graph
94	122	virtual void initScene()
…	…
103	131	rootNode = new pfGroup;
104	132
105		~~naver = new pfNaver~~();
	133	mNavigationDCS = new pfDCS();
106	134
107	135	sun1 = new pfLightSource;
…	…
111	139	sun1->setColor(PFLT_SPECULAR, 1.0f, 1.0f, 1.0f);
112	140	sun1->on();
113		~~naver~~->addChild(sun1);
	141	mNavigationDCS->addChild(sun1);
114	142
115	143	// Light the root node
…	…
128	156	//pfNode* obj = pfdLoadFile("/usr/share/Performer/data/klingon.flt");
129	157	pfNode* obj = pfdLoadFile( filename );
130		rootNode->addChild(~~naver~~);
	158	rootNode->addChild( mNavigationDCS );
131	159
132	160	pfDCS* world_model = new pfDCS; // The node with the world under it
133		~~//rootNode->addChild(world_model);~~
134	161	world_model->addChild(obj);
135	162	world_model->setScale(0.25f);
136	163	world_model->setTrans(0.0,5.0,-5.0);
137
138		vjMatrix initial_pos;
139		initial_pos.setTrans(0,0,0);
140		naver->getNavigator()->setCurPos(initial_pos);
141		naver->addChild(world_model);
142		//*/
143
	164	mNavigationDCS->addChild(world_model);
	165
144	166	// Load the TOWN
145
146	167	//pfFilePath("/usr/share/Performer/data:/usr/share/Performer/data/town");
147	168	//pfNode* obj = pfdLoadFile("/usr/share/Performer/data/town/town_ogl_pfi.pfb");
148	169	//pfDCS* world_model = new pfDCS; // The node with the world under it
149		//rootNode->addChild(naver);
150
	170	//rootNode->addChild(mNavigationDCS);
151	171	//world_model->addChild(obj);
152	172	//world_model->setScale(3.0f);
153		//vjMatrix initial_pos;
	173
	174	// Configure the Navigator DCS node:
	175	// Set it's initial position:
	176	vjMatrix initial_pos;
154	177	//initial_pos.setTrans(7500,50,-7500);
155		//naver->getNavigator()->setCurPos(initial_pos);
156		//naver->addChild(world_model);
157
158		//planeCollidor* collide = new planeCollidor;
159		pfVolumeCollidor* correction_collide = new pfVolumeCollidor(world_model);
160		pfRideCollidor* ride_collide = new pfRideCollidor(world_model);
161
162		naver->getNavigator()->setGravityCollidor(ride_collide);
163		naver->getNavigator()->setCorrectingCollidor(correction_collide);
164
165
166		//pfuTravPrintNodes(rootNode, "nodes.out");
167		//pfdStoreFile(rootNode, "nodes.pfb");
	178	initial_pos.setTrans(0, 6, 0);
	179	mNavigator.getNavigator()->setCurPos(initial_pos);
	180
	181	// Set its terrain follower
	182	//planeCollider* collide = new planeCollider;
	183	pfPogoCollider* ride_collide = new pfPogoCollider(world_model);
	184	mNavigator.getNavigator()->addCollider(ride_collide);
	185
	186	// Set the navigator's collider.
	187	pfBoxCollider* correction_collide = new pfBoxCollider( world_model );
	188	mNavigator.getNavigator()->addCollider( correction_collide );
	189
	190
	191	// load these files into perfly to see just what your scenegraph
	192	// looked like. . . . .useful for debugging.
	193	pfuTravPrintNodes( rootNode, "nodes.out" );
	194	pfdStoreFile( rootNode, "nodes.pfb" );
168	195	}
169	196
…	…
179	206	virtual void preDrawChan(pfChannel* chan, void* chandata)
180	207	{
181		pfDisable(PFEN_TEXTURE);
182		pfOverride(PFSTATE_TEXTURE,PF_ON); // Override texturing to turn it off;
	208	this->textures( true ); // Override texturing to turn it on;
183	209	}
184	210
…	…
193	219	virtual void preFrame()
194	220	{
195		//vjDEBUG(vjDBG_ALL, 1) << "app::preFrame\n" << vjDEBUG_FLUSH;
196		static float x=10;
197		static float y=-5;
198		static float z=3;
199		static float amb=0.0f;
200
201		x+=0.05;
202		y+=0.04;
203		z+=0.02;
204		amb += 0.025f;
205
206		if(x>20.0f)
207		x = -20.0f;
208		if(y>20.0f)
209		y = -20.0f;
210		if(z>20.0f)
211		z = -20.0f;
212		if(amb>1.0f)
213		amb = 0.0f;
214
215		//sun1->setPos(x,y,z, 1.0f);
216		//cerr << "set ambient: " << amb << endl;
217		//sun1->setColor(PFLT_AMBIENT, amb, amb, amb);
218		}
219
	221	// Keep time, for FPS measurments...
	222	stopWatch.stop();
	223	stopWatch.start();
	224
	225	/////////////////////////////////////////////////////////
	226	//: Handle navigation
	227
	228	if (mActionButton2->getData() == vjDigital::TOGGLE_ON)
	229	cout<<"Brake\n"<<flush;
	230	if (mActionButton->getData() == vjDigital::TOGGLE_ON)
	231	cout<<"Accelerate\n"<<flush;
	232
	233	// let the navigator collect some instructions from input devices...
	234	mNavigator.accelerate( mActionButton->getData() == vjDigital::ON \|\|
	235	mActionButton->getData() == vjDigital::TOGGLE_ON );
	236	mNavigator.brake( mActionButton2->getData() == vjDigital::ON \|\|
	237	mActionButton2->getData() == vjDigital::TOGGLE_ON );
	238	mNavigator.rotate( mActionButton2->getData() != vjDigital::ON &&
	239	mActionButton2->getData() != vjDigital::TOGGLE_ON );
	240	vjMatrix* wandMatrix = mWand->getData();
	241	vjMatrix rotMatrix = *wandMatrix;
	242	rotMatrix( 0, 3 ) = 0.0f;
	243	rotMatrix( 1, 3 ) = 0.0f;
	244	rotMatrix( 2, 3 ) = 0.0f;
	245	mNavigator.setMatrix( rotMatrix );
	246
	247	// tell the navigator to update itself with any new instructions just given to it.
	248	mNavigator.update();
	249
	250	// notify the navigator DCS of the mNavigator's new matrix
	251	pfMatrix mNavigator_pf = vjGetPfMatrix( mNavigator );
	252	mNavigationDCS->setMat( mNavigator_pf );
	253
	254	// output the FPS so the team artist can get metrics on their model
	255	++mFpsEmitCount;
	256	if (mFpsEmitCount >= 15)
	257	{
	258	cout<<"FPS: "<<stopWatch.fpsAverage<<"\n"<<flush;
	259	mFpsEmitCount = 0;
	260	}
	261	}
	262
	263	int mFpsEmitCount;
	264	StopWatch stopWatch;
	265
220	266	/// Function called after pfDraw
221	267	virtual void intraFrame()
…	…
225	271
226	272	public:
	273	// the sun
227	274	pfLightSource* sun1;
228	275
229		pfNaver* naver;
230		//pfDCS* baseDCS;
	276	// navigation objects.
	277	CaveNavigator mNavigator;
	278	pfDCS* mNavigationDCS;
	279
	280	// juggler device interface objects
	281	vjPosInterface mWand; // the Wand
	282	vjPosInterface mHead; // the Head
	283	vjDigitalInterface mActionButton;
	284	vjDigitalInterface mActionButton2;
	285	vjDigitalInterface mModeChangeButton;
	286
	287	// scene's root (as far as we're concerned here)
231	288	pfGroup* rootNode;
232	289	};
…	…
239	296	{
240	297	vjKernel* kernel = vjKernel::instance(); // Declare a new Kernel
241		~~myApp* application = new myApp~~(kernel); // Delcare an instance of my application
	298	pfNavJugglerApplication* application = new pfNavJugglerApplication(kernel); // Delcare an instance of my application
242	299
243	300	if (argc < 2)

trunk/juggler_1.0/samples/pfNav/Makefile.in

r1891	r1913
12	12	COMPILE = @CXX@ @DEFS@ $(VJ_INCLUDES) @CPPFLAGS@ @CXXFLAGS@ @DBG_FLAGS@
13	13	LINK = @CXX@ @CPPFLAGS@ @CXXFLAGS@ @EXTRA_LINK_FLAGS@
14		VJ_INCLUDES = @INCLUDES@ -I$(VJ_BASE_DIR)/include -I$(srcdir) -I$(srcdir)/../nav
	14	VJ_INCLUDES = @INCLUDES@ -I$(VJ_BASE_DIR)/include -I$(VJ_BASE_DIR)/include/Math -I$(srcdir) -I$(srcdir)/../nav
15	15	VJ_LIBS = @TEST_VJ_LIBS_BASIC@ @TEST_VJ_LIBS_GL@ @TEST_VJ_LIBS_PF@ @TEST_LIBS_BASIC@
16	16	VPATH = @srcdir@
…	…
30	30	EXTRA_LIBS = @TEST_EXTRA_LIBS_BASIC@ @TEST_EXTRA_LIBS_PF@ @TEST_EXTRA_LIBS_GL@
31	31
32		OBJECTS = pfNav.@OBJ_FILE_SUFFIX@
	32	OBJECTS = pfNav.@OBJ_FILE_SUFFIX@ ../nav/pfTerryCollide.@OBJ_FILE_SUFFIX@ ../nav/pfTerryPogoCollide.@OBJ_FILE_SUFFIX@ ../nav/pfTerryBoxCollide.@OBJ_FILE_SUFFIX@
33	33
34	34	# -----------------------------------------------------------------------------

trunk/juggler_1.0/samples/pfNav/pfNav.cpp

r1888	r1913
49	49	// --- VR Juggler Stuff --- //
50	50	#include <Kernel/vjKernel.h>
51		#include <Kernel/Pf/vjPfApp.h>
	51	#include <Kernel/Pf/vjPfApp.h> // the performer application base type
52	52	#include <Kernel/vjDebug.h>
53		#include <Kernel/vjProjection.h>
54
55		#include <pfNaver.h>
56		#include <collidor.h>
57		#include <planeCollidor.h>
58		#include <pfCollidor.h>
	53	#include <Kernel/vjProjection.h> // for setNearFar (for setting clipping planes)
	54	#include <Input/InputManager/vjPosInterface.h>
	55	#include <Input/InputManager/vjDigitalInterface.h>
	56
	57
	58	// nav includes
	59	#include <CaveNavigator.h>
	60	#include <collider.h>
	61	#include <planeCollider.h>
	62	#include <pfPogoCollider.h>
	63	#include <pfRayCollider.h>
	64	#include <pfBoxCollider.h>
59	65
60	66	char* filename = NULL;
…	…
62	68
63	69	// Declare my application class
64		class ~~myApp~~ : public vjPfApp
	70	class pfNavJugglerApplication : public vjPfApp
65	71	{
66	72	public:
67		myApp(vjKernel* kern) : vjPfApp(kern)
68		{
69		//rotation = 0.0f;
70		//zPos = 0.0f;
	73	pfNavJugglerApplication( vjKernel* kern ) : mFpsEmitCount(0), vjPfApp( kern )
	74	{
	75	// get a valid time on the stopwatch...
	76	stopWatch.stop();
	77	stopWatch.start();
71	78	}
72	79
…	…
75	82	vjDEBUG(vjDBG_ALL, 1) << "app::init\n" << vjDEBUG_FLUSH;
76	83	vjProjection::setNearFar(0.5, 1000);
	84
	85	mWand.init( "VJWand" );
	86	mHead.init( "VJHead" );
	87	mActionButton.init( "VJButton0" );
	88	mActionButton2.init( "VJButton1" );
	89	mModeChangeButton.init( "VJButton2" );
77	90	}
78	91
…	…
86	99	// Initialize type system
87	100	vjDEBUG(vjDBG_ALL,1) << "app::preForkInit: Initializing new types.\n" << vjDEBUG_FLUSH;
88		~~pfNaver::init();~~
89	101
90	102	// Initialize loaders
91		}
92
	103	pfdInitConverter("terrain.flt");
	104	}
	105
	106	inline void textures( bool state ) const
	107	{
	108	if (state == true)
	109	{
	110	pfEnable( PFEN_TEXTURE );
	111	pfOverride(PFSTATE_ENTEXTURE, PF_ON);
	112	}
	113
	114	else
	115	{
	116	pfDisable( PFEN_TEXTURE );
	117	pfOverride(PFSTATE_ENTEXTURE, PF_OFF);
	118	}
	119	}
	120
93	121	/// Initialize the scene graph
94	122	virtual void initScene()
…	…
103	131	rootNode = new pfGroup;
104	132
105		~~naver = new pfNaver~~();
	133	mNavigationDCS = new pfDCS();
106	134
107	135	sun1 = new pfLightSource;
…	…
111	139	sun1->setColor(PFLT_SPECULAR, 1.0f, 1.0f, 1.0f);
112	140	sun1->on();
113		~~naver~~->addChild(sun1);
	141	mNavigationDCS->addChild(sun1);
114	142
115	143	// Light the root node
…	…
128	156	//pfNode* obj = pfdLoadFile("/usr/share/Performer/data/klingon.flt");
129	157	pfNode* obj = pfdLoadFile( filename );
130		rootNode->addChild(~~naver~~);
	158	rootNode->addChild( mNavigationDCS );
131	159
132	160	pfDCS* world_model = new pfDCS; // The node with the world under it
133		~~//rootNode->addChild(world_model);~~
134	161	world_model->addChild(obj);
135	162	world_model->setScale(0.25f);
136	163	world_model->setTrans(0.0,5.0,-5.0);
137
138		vjMatrix initial_pos;
139		initial_pos.setTrans(0,0,0);
140		naver->getNavigator()->setCurPos(initial_pos);
141		naver->addChild(world_model);
142		//*/
143
	164	mNavigationDCS->addChild(world_model);
	165
144	166	// Load the TOWN
145
146	167	//pfFilePath("/usr/share/Performer/data:/usr/share/Performer/data/town");
147	168	//pfNode* obj = pfdLoadFile("/usr/share/Performer/data/town/town_ogl_pfi.pfb");
148	169	//pfDCS* world_model = new pfDCS; // The node with the world under it
149		//rootNode->addChild(naver);
150
	170	//rootNode->addChild(mNavigationDCS);
151	171	//world_model->addChild(obj);
152	172	//world_model->setScale(3.0f);
153		//vjMatrix initial_pos;
	173
	174	// Configure the Navigator DCS node:
	175	// Set it's initial position:
	176	vjMatrix initial_pos;
154	177	//initial_pos.setTrans(7500,50,-7500);
155		//naver->getNavigator()->setCurPos(initial_pos);
156		//naver->addChild(world_model);
157
158		//planeCollidor* collide = new planeCollidor;
159		pfVolumeCollidor* correction_collide = new pfVolumeCollidor(world_model);
160		pfRideCollidor* ride_collide = new pfRideCollidor(world_model);
161
162		naver->getNavigator()->setGravityCollidor(ride_collide);
163		naver->getNavigator()->setCorrectingCollidor(correction_collide);
164
165
166		//pfuTravPrintNodes(rootNode, "nodes.out");
167		//pfdStoreFile(rootNode, "nodes.pfb");
	178	initial_pos.setTrans(0, 6, 0);
	179	mNavigator.getNavigator()->setCurPos(initial_pos);
	180
	181	// Set its terrain follower
	182	//planeCollider* collide = new planeCollider;
	183	pfPogoCollider* ride_collide = new pfPogoCollider(world_model);
	184	mNavigator.getNavigator()->addCollider(ride_collide);
	185
	186	// Set the navigator's collider.
	187	pfBoxCollider* correction_collide = new pfBoxCollider( world_model );
	188	mNavigator.getNavigator()->addCollider( correction_collide );
	189
	190
	191	// load these files into perfly to see just what your scenegraph
	192	// looked like. . . . .useful for debugging.
	193	pfuTravPrintNodes( rootNode, "nodes.out" );
	194	pfdStoreFile( rootNode, "nodes.pfb" );
168	195	}
169	196
…	…
179	206	virtual void preDrawChan(pfChannel* chan, void* chandata)
180	207	{
181		pfDisable(PFEN_TEXTURE);
182		pfOverride(PFSTATE_TEXTURE,PF_ON); // Override texturing to turn it off;
	208	this->textures( true ); // Override texturing to turn it on;
183	209	}
184	210
…	…
193	219	virtual void preFrame()
194	220	{
195		//vjDEBUG(vjDBG_ALL, 1) << "app::preFrame\n" << vjDEBUG_FLUSH;
196		static float x=10;
197		static float y=-5;
198		static float z=3;
199		static float amb=0.0f;
200
201		x+=0.05;
202		y+=0.04;
203		z+=0.02;
204		amb += 0.025f;
205
206		if(x>20.0f)
207		x = -20.0f;
208		if(y>20.0f)
209		y = -20.0f;
210		if(z>20.0f)
211		z = -20.0f;
212		if(amb>1.0f)
213		amb = 0.0f;
214
215		//sun1->setPos(x,y,z, 1.0f);
216		//cerr << "set ambient: " << amb << endl;
217		//sun1->setColor(PFLT_AMBIENT, amb, amb, amb);
218		}
219
	221	// Keep time, for FPS measurments...
	222	stopWatch.stop();
	223	stopWatch.start();
	224
	225	/////////////////////////////////////////////////////////
	226	//: Handle navigation
	227
	228	if (mActionButton2->getData() == vjDigital::TOGGLE_ON)
	229	cout<<"Brake\n"<<flush;
	230	if (mActionButton->getData() == vjDigital::TOGGLE_ON)
	231	cout<<"Accelerate\n"<<flush;
	232
	233	// let the navigator collect some instructions from input devices...
	234	mNavigator.accelerate( mActionButton->getData() == vjDigital::ON \|\|
	235	mActionButton->getData() == vjDigital::TOGGLE_ON );
	236	mNavigator.brake( mActionButton2->getData() == vjDigital::ON \|\|
	237	mActionButton2->getData() == vjDigital::TOGGLE_ON );
	238	mNavigator.rotate( mActionButton2->getData() != vjDigital::ON &&
	239	mActionButton2->getData() != vjDigital::TOGGLE_ON );
	240	vjMatrix* wandMatrix = mWand->getData();
	241	vjMatrix rotMatrix = *wandMatrix;
	242	rotMatrix( 0, 3 ) = 0.0f;
	243	rotMatrix( 1, 3 ) = 0.0f;
	244	rotMatrix( 2, 3 ) = 0.0f;
	245	mNavigator.setMatrix( rotMatrix );
	246
	247	// tell the navigator to update itself with any new instructions just given to it.
	248	mNavigator.update();
	249
	250	// notify the navigator DCS of the mNavigator's new matrix
	251	pfMatrix mNavigator_pf = vjGetPfMatrix( mNavigator );
	252	mNavigationDCS->setMat( mNavigator_pf );
	253
	254	// output the FPS so the team artist can get metrics on their model
	255	++mFpsEmitCount;
	256	if (mFpsEmitCount >= 15)
	257	{
	258	cout<<"FPS: "<<stopWatch.fpsAverage<<"\n"<<flush;
	259	mFpsEmitCount = 0;
	260	}
	261	}
	262
	263	int mFpsEmitCount;
	264	StopWatch stopWatch;
	265
220	266	/// Function called after pfDraw
221	267	virtual void intraFrame()
…	…
225	271
226	272	public:
	273	// the sun
227	274	pfLightSource* sun1;
228	275
229		pfNaver* naver;
230		//pfDCS* baseDCS;
	276	// navigation objects.
	277	CaveNavigator mNavigator;
	278	pfDCS* mNavigationDCS;
	279
	280	// juggler device interface objects
	281	vjPosInterface mWand; // the Wand
	282	vjPosInterface mHead; // the Head
	283	vjDigitalInterface mActionButton;
	284	vjDigitalInterface mActionButton2;
	285	vjDigitalInterface mModeChangeButton;
	286
	287	// scene's root (as far as we're concerned here)
231	288	pfGroup* rootNode;
232	289	};
…	…
239	296	{
240	297	vjKernel* kernel = vjKernel::instance(); // Declare a new Kernel
241		~~myApp* application = new myApp~~(kernel); // Delcare an instance of my application
	298	pfNavJugglerApplication* application = new pfNavJugglerApplication(kernel); // Delcare an instance of my application
242	299
243	300	if (argc < 2)

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