3D Mouse & Head Tracker Techical Reference Manuel 3D Mouse Head Tracker Logitech Inc., Fremont, CA 94555 ©1992 by Logitech, Inc. All Rights Reserved. Published 1992 Printed in the United States of America No part of this document may be copied or reproduced in any form or by any means without the prior written consent of Logitech, Inc. (Logitech). Logitech has made every effort to ensure the accuracy of this manual. However, Logitech makes no warranties with respect to this documentation band disclaims any implied warranties of merchantability and fitness for a particular purpose. The information in this document is subject to change without notice. Logitech assumes no responsibility for any errors that may appear in this document. Document: Released: 620402-00 Rev B November 1992 Trademarks IBM PC, XT, and AT are registered trademarks of International Business Machine Corp. Intel is a registered trademark and 80286, 80386, 286, 386, and 486 are trademarks of Intel Corp. Logitech is a trademark of Logitech, Inc. Microsoft, MS, and MS-DOS are registered trademarks of Microsoft Corp. StereoGraphics and Crystal Eyes are registered trademarks of StereoGraphics Corp. All other trademarks are the sole property of their respective manufacturers. U.S. Government Restricted Rights The software and associated documentation are provided with RESTRICTED RIGHTS. Use, duplication, or disclosure by the Government is subject to restrictions as set forth in subparagraphs (c) (1) and (I) of The Rights in Technical Data and Computer Software clause at DFARS 252.227-7013 or subparagraphs (c) (1) and (2) of the Commercial Computer Software-Restricted Rights at 48 CFR 52.227-19, as applicable. Contractor/manufacturer is Logitech Inc., 6505 Kaiser Drive, Fremont, CA 94555. FCC Warning Statement This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses, and can radiate radio frequency energy and, if not installed or used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try and correct the interference by one or more of the following measures: · Reorient or relocate the receiving antenna. · Increase the separation between the equipment and the receiver. · Connect the equipment into an outlet on a circuit different from that to which the receiver is connected. Consult the dealer or an experienced radio/TV technician for help. The user may find the following booklet prepared by the Federal Communications Commission helpful: How to Identify and Resolve Radio-TV Interference Problems. This booklet, #04-000-00345-4, is available from the U.S. Government Printing Office, Washington, D.C. 20402. To meet FCC requirements, shielded cables and power cords are required to connect the device to a personal computer or other Class B certified device. ii Information to User Changes or modifications to this equipment not expressly approved by the party responsible for compliance could void the user's authority to operate the equipment. FCC Compliance Statement This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions: 1. This device may not cause harmful interference. 2. This device must accept any interference received, including interference that may cause undesired operation. Hardware Warranty by Fakespace, Inc. This product is warranted to be free from defects in material and workmanship for ninety days from the date of purchase. During this period, Fakespace will, at its sole option, replace or repair at no charge the product which, in its opinion, is defective. If the failed product has been modified without Fakespace's written consent or if the failure is the result of misuse, abuse, or misapplication, Fakespace has no obligation to repair or replace the failed product. Before returning a failed unit, the buyer must obtain a Return Authorization (RA) number by calling Fakespace Product Support at (650) 688-1940. Fakespace cannot be held responsible for any package returned without an RA number. The buyer is responsible for packing the product properly for return shipment, and for the charges to ship the product to Fakespace. Fakespace is responsible for charges to return the product to the buyer. EXCEPT AS EXPRESSLY PROVIDED ABOVE, THE HARDWARE AND ACCOMPANYING WRITTEN MATERIALS (INCLUDING THE USER'S MANUAL) ARE PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE, EVEN IF LOGITECH HAS BEEN ADVISED OF THAT PURPOSE. IN NO EVENT WILL LOGITECH, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, CONSEQUENTIAL, OR INCIDENTAL DAMAGES ARISING OUT OF THE USE OF OR INABILITY TO USE SUCH PRODUCT EVEN IF LOGITECH HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. SOME STATES DO NOT ALLOW THE EXCLUSION OR LIMITATION OF LIABILITY FOR CONSEQUENTIAL OR INCIDENTAL DAMAGES, SO THE ABOVE LIMITATION MAY NOT APPLY. Software Public Domain Statement The following program files have been dedicated by Logitech to the public domain: TEST3D.EXE, SAMPLE.EXE, LOGIDRVR.C, LOGIDRVR.H, SIMPLE.C, and README.TXT. ACCORDINGLY, USE OF THIS SOFTWARE IS AT THE SOLE RISK OF THE USER, AND LOGITECH EXPRESSLY DISCLAIMS ANY LIABILITIES ARISING FROM THE USE OF THESE PROGRAM FILES, INCLUDING, WITHOUT OF LIMITATION WARRANTIES OF FITNESS FOR A PARTICULAR PURPOSE AND MERCHANTABILITY, AND NONINFRINGEMENT OF THIRD PARTY RIGHTS. iii iv Table of Contents Preface, ix 1 Introduction, 1 System Features, 1 Basic System Components, 2 Basic 3D Mouse Components, 2 Basic Head Tracker Components, 3 Additional Components and Features, 3 2 Installation and Setup, 5 Connecting the Components, 5 Arranging the Components, 7 Arranging the 3D Mouse Components, 7 Arranging the Head Tracker Components, 8 Custom Head Tracker Arrangements, 8 Running the TEST3D Program, 10 3 Component Description, 11 3D Mouse Transmitter, 11 3D Mouse Receiver, 12 Head Tracker Transmitter, 15 Head Tracker Receiver, 16 Control Unit, 16 Computer Cable, 18 Power Supply, 18 v Table of Contents Master/Slave Cable, 18 Audio Device (Optional), 18 4 Multiple Control Unit Components, 19 Connecting Multiple Control Units, 20 Connecting Components to Multiple Control Units, 22 5 System Operation, 23 3D Mode, 23 Coordinate System, 23 Right-Hand Rules, 24 Origin Points and Reference Axes, 26 Positional X, Y, Z Data, 27 Orientation Data, 28 Converting Euler's Angles to Quaternions, 30 Converting Degrees to Radians, 31 Active Area, 31 Resolution, 32 Fringe Area and Out-of-Range Area, 32 Tracking Speed, 35 Reporting Modes, 35 2D Mode, 36 Active Area, 36 Resolution, 36 Tracking Speed, 36 Reporting Mode, 36 vi Table of Contents 6 Application Programming Interface, 37 Control Unit Initialization, 37 3D Mode, 38 Mouse Data Report Format, 38 Data Format Restrictions, 40 3D Mode Commands, 40 2D Mode, 49 Reporting Data Formats, 49 2D Mode Commands, 52 7 Questions & Answers, 59 A 3D Mouse & Head Tracker Specifications, 61 B Creating a Custom Receiver, 69 Index, 71 vii viii Preface This manual describes the components and operation of the 3D Mouse and Head Tracker systems. The information in this manual is for technical reference. It is intended for OEMs (Original Equipment Manufacturers), VARs (Value Added Retailers), and software and hardware developers who integrate the 3D Mouse and Head Tracker technology into their products. Knowledge in the following areas would be beneficial, but is not required: · the C programming language, and the ability to adapt the code provided in this manual and associated software to your application-specific programming language · device driver development · RS-232 (serial) communication · 3D graphics programming This manual is organized as follows: Chapter 1, Introduction. This chapter introduces the 3D Mouse and Head Tracker system features and components. Chapter 2, Installation and Setup. This chapter describes how to install and setup the 3D Mouse and Head Tracker components. It also describes how to run TEST3D program. Chapter 3, Component Description. This chapter provides a detailed description of how each component works. Chapter 4, Using Multiple Control Units. This chapter describes when you need to use multiple control units, how to connect them, and which components to connect to them. Chapter 5, System Operation. This chapter describes how the 3D Mouse and Head Tracker systems communicate position and orientation data to the host computer. ix Table of Contents Chapter 6, Application Programming Interface. This chapter defines the 2D and 3D mode command set. Chapter 7, Questions & Answers. This chapter includes commonly asked questions about the 3D Mouse and Head Tracker systems and recommended answers. Appendix A, 3D Mouse & Head Tracker Specifications. This appendix lists the 3D Mouse and Head Tracker hardware specifications. Appendix B, Creating a Custom Receiver. This appendix provides information to help you create a custom 3D Mouse receiver. x 1 Introduction This chapter summarizes the 3D Mouse and Head Tracker system features. It also lists the basic system components, as well as additional components you can add for more sophisticated system configurations. System Features The award-winning, Logitech 3D Mouse and Head Tracker allow you to input three-dimensional, spatial information into a host computer, from IBM PC compatibles to high-end graphics workstations. These systems are designed for sophisticated software and hardware applications, including CAD/CAM, computer animation, computer modeling, robotic control, 3D graphics, and virtual reality workstations. The 3D Mouse and Head Tracker are easy to setup and use. The stationary transmitter emits ultrasonic signals that track the movement of the receiver. The receiver, which you move about threedimensionally within the active area in front of the transmitter, receives the ultrasonic signals and relays them back to the control unit. The control unit converts the signals into position and orientation data that can be processed by the host computer. Configuration of the 3D Mouse and Head Tracker components is very flexible. You can use just the 3D Mouse or the Head Tracker. You can use both the 3D Mouse and the Head Tracker receivers at the same time. Or, you can integrate the 3D Mouse and Head Tracker components into your own custom system. The configuration is up to your needs. The 3D Mouse operates in both 3D and 2D modes. The 3D mode reports three-dimensional and rotational positions. The 2D mode reports two dimensional positions just like an ordinary, conventional mouse. It is 100% compatible with Logitech and Microsoft pointing devices. The 3D Mouse and Head Tracker allow you to incorporate voice recognition and sound applications. The control unit provides an Audio-Out connector for you to connect an audio processing device and input sound through the receiver's top microphone. 1 Chapter 1 Basic System Components Before you install the 3D Mouse or Head Tracker, take a moment to familiarize yourself with the associated components. The product comes with either the 3D Mouse or Head Tracker components. For more detailed information about how these components work, see Chapter 3, "Component Description." Basic 3D Mouse Components The basic 3D Mouse system includes the components shown in Figure 1-1. 3D Mouse Transmitter Power Supply Computer Cable Control Unit POW OF OUT GE RAN NSM IT REC EIVE ER TRA 3D Mouse Receiver Figure 1-1. 3D Mouse Components 2 Introduction Basic Head Tracker Components The basic Head Tracker system includes a transmitter, receiver, control unit, power supply, and computer cable. Figure 1-2 shows the transmitter and receiver. Head Tracker Transmitter Head Tracker Receiver Figure 1-2. Head Tracker Transmitter and Receiver Additional Components and Features Multiple Control Units. You can connect up to four control units together for simultaneous head and hand tracking (tracking with up to four receivers and one transmitter). For more information about using multiple control units, see Chapter 4. Custom Devices. You can create a custom 3D Mouse receiver. Instructions and an electrical schematic appear in Appendix B. You can also create head tracking devices that incorporate the Head Tracker transmitter and receiver. These components include screw holes so you can mount them (see "Arranging the Head Tracker Components" in Chapter 2). Audio Processing Devic ...