vrecko
virtual reality framework
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Grid.h
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1 #include <vrecko/Ability.h>
2 #include <vreckoDP/base/PHANToM.h>
3 
4 using namespace vrecko;
5 using namespace vreckoDP_base;
6 namespace VirtualFixture{
7 
8 class Grid: public PHANToMFilter {
9  public:
10  Grid();
11  ~Grid() {};
12 
14  void apply(PHANToM *pPHANToM, osg::Vec3 &force);
15  void processEvent(const std::string &input_name, void *value);
16 
17  void preInitialize(void);
18  void postInitialize(void);
19  void update(void);
20 
21  bool loadXMLParameters(XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *pParametersNode);
22  XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *getXMLParameters(XERCES_CPP_NAMESPACE_QUALIFIER DOMDocument *);
23 
24  protected:
25  PHANToM *PHANToMDevice;
26  bool all_on;
27  bool active; //VF switcher
28  osg::Vec3 position; //position of starting point
29  osg::Vec3 vector; //vector on cylinder axis (from bottom to top)
30  float nullradius; //radius close to centre, where attractive field is NOT applied
31  float stiffness; //stiffness of attractive field = how strong it would be for every meter of space
32  float gravity; //gravity constant (continues linear field)
33  bool gravity_on; //gravity on/off
34 };
35 
36 };