ClampFilter.h

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#ifndef CLAMP_FILTER_H
#define CLAMP_FILTER_H

#include <vreckoDP/PHANToM/PHANToM_Device.h>

#ifdef COMPILE_PHANTOM_DEVICE

namespace vreckoDP_PHANToM {

/* PHANToM filter to limit the force size. */
class ClampFilter : public PHANToMFilter {
public:
    ClampFilter();

    virtual bool loadXMLParameters(XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *parameters);

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

protected:
    float fMaxForce;
    float fMaxTorque;
};

}

#endif


#endif