SetObjectTransformFilter.h

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#ifndef SET_OBJECT_MATRIX_FILTER_H
#define SET_OBJECT_MATRIX_FILTER_H

#include <vreckoDP/PHANToM/PHANToM_Device.h>

#ifdef COMPILE_PHANTOM_DEVICE

namespace vreckoDP_PHANToM {

/* PHANToM filter to get the current Phantom position and set an object position accordingly
   using MTMatrixTransform ability. The force is unchanged.*/
class SetObjectTransformFilter : public PHANToMFilter {
public:
    SetObjectTransformFilter();

    virtual bool loadXMLParameters(XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *parameters);

    virtual void apply(PHANToMSTATE &pState, osg::Vec3 &force, osg::Vec3 &torque);

protected:
    osg::Matrix originalScale;
    osg::Vec3 offsetFromCenter; // Offset of the phantom reference point

    osg::Matrix cachedMatrix;
};

}

#endif

#endif