4 #ifdef COMPILE_PHANTOM_DEVICE
11 using namespace vrecko;
13 namespace APHapticCollisionApp {
15 class CollisionAppController:
public Ability {
17 CollisionAppController();
18 ~CollisionAppController();
20 virtual void preInitialize();
21 virtual void postInitialize();
22 virtual bool loadXMLParameters(XERCES_CPP_NAMESPACE_QUALIFIER
DOMNode *pParametersNode);
23 virtual void update(
void);
24 virtual void *processRequest(
const std::string &name,
void *data);
25 void processObjectSwitch(
bool bRelease);
28 void checkOrCreateStructsForObject(
unsigned int objectID);
42 bool graspNewObjectUsingCollisions(vreckoDP_PHANToM::PHANTOM_HELD_OBJECTS_ARRAY *heldObjects, osg::Matrix* heldObjInverseTransform);
46 bool graspNewObjectUsingDistances(vreckoDP_PHANToM::PHANTOM_HELD_OBJECTS_ARRAY *heldObjects, osg::Matrix* heldObjInverseTransform);