Auxiliary.h

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#ifndef VF_AUXILIARY_H
#define VF_AUXILIARY_H

#include <vrecko/Ability.h>
#include <vreckoDP/base/PHANToM.h>
#include <osg/Timer>

#include <osg/Vec3>

using namespace vrecko;
using namespace vreckoDP_base;
namespace VirtualFixture{

//Where is stored MAXFORCE in VRECKO?
#define MAXFORCE 7.0
#define SMOOTHING_RADIUS 0.05

#define MINF 0.1

//#define MULTIPLIER 50.0 //Flasik magic constant
//#define ADDITIONX 0.0 //Flasik magic constant
//#define ADDITIONY -3.0 //Flasik magic constant
//#define ADDITIONZ -1.0 //Flasik magic constant
#define MULTIPLIER 1.0
#define ADDITIONX 0.0
#define ADDITIONY 0.0
#define ADDITIONZ 0.0

                                                                                                                    
#define WSXMIN -0.24 * MULTIPLIER + ADDITIONX
#define WSXMAX 0.24 * MULTIPLIER + ADDITIONX
#define WSYMIN -0.10 * MULTIPLIER + ADDITIONY
#define WSYMAX 0.39 * MULTIPLIER + ADDITIONY
#define WSZMIN -0.12 * MULTIPLIER + ADDITIONZ
#define WSZMAX 0.16 * MULTIPLIER + ADDITIONZ
                                                                                                                    
#define ZEROXDISTANCE 0 * MULTIPLIER + ADDITIONX
#define ZEROYDISTANCE 0.14 * MULTIPLIER + ADDITIONY
#define ZEROZDISTANCE -0.13 * MULTIPLIER + ADDITIONZ
#define MINBORDERRADIUS 0.13 * MULTIPLIER
#define MAXBORDERRADIUS 0.24 * MULTIPLIER

extern osg::Timer timer; //declaration of  timer                                                                                                                   

extern "C" osg::Vec3 ControlActualPositionReturnCleanPosition(osg::Vec3 Actual); //this function check if phantom position is not close to workspace edge -> return closest point on edge

extern "C" bool ControlActualPosition(osg::Vec3 Actual); //this function check if phantom position is not close to workspace edge -> return true if inside, false if beyond border

//vibration generator
extern "C" osg::Vec3 Vibrate(float frequency, float amplitude, osg::Vec3 direction);        //update vector so it will produce vibration movement with proper direction and amplitude with preset frequency 

//Transform function from computed force (from any algorythm) to (0,maxf) by special function (logarithmic)
extern "C" osg::Vec3 ForceTransformFunction(float maxforce, osg::Vec3 force); //transform function (linear) to log(f);result in (0,maxforce)

//this function is called by cylinder etc., it will check if t param is in (0,1) and return 1 if in,
//close (defined by SMOOTHING_RADIUS) to value 0, or 1 it will produce some smooth increase/decrease (for better connection of two fixtures)
extern "C" float SmoothEnding(float t); //t is "time" param on vector
}
#endif