Border.h

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//module for PHANToM work space border signalization
//when border is reached, PHANToM will vibrate

#ifndef VF_BORDER
#define VF_BORDER


#include <vrecko/Ability.h>
#include <vreckoDP/base/PHANToM.h>
#include <osg/Vec4>
#include <osg/Geode>
#include <osg/MatrixTransform>
#include <osg/Group>

#include "Auxiliary.h"

        
using namespace vrecko;
using namespace vreckoDP_base;
namespace VirtualFixture{

class Border: public PHANToMFilter {
    public:
        Border();
        ~Border() {};

        void apply(PHANToM *pPHANToM, osg::Vec3 &force);
        void processEvent(const std::string &input_name, void *value);

        void preInitialize(void);
        void postInitialize(void);
        void update(void);
        
        void display(void);         //show or hide VF_cylinder object

        bool loadXMLParameters(XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *pParametersNode);
        XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *getXMLParameters(XERCES_CPP_NAMESPACE_QUALIFIER DOMDocument *);
        
    protected:
        PHANToM *PHANToMDevice;
        bool all_on;
        bool active;            //VF switcher
        
        bool visible;       //if geometric representation will be visible
        osg::MatrixTransform *tnode;        //transform node pointer
        osg::Group *gnode;      //group  pointer
        osg::Geode *node;       //geometry node pointer (for bouning cylinder)
        osg::Geode *node2;      //geometry node2 pointer (for center cylinder)
        osg::Vec4 color;    //color of border sphere (radius1)
        osg::Vec4 color2;   //color of inner sphere (radius2)
        float transparency; //border sphere transparency
        float transparency2;    //inner sphere transparency
        
        osg::Vec3 direction;    //direction of vibration
        float frequency;        //frequency of warning vibration
        float amplitude;        //base amplitude of vibration 
};

};
#endif