Cylinder.h

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#ifndef VF_CYLINDER
#define VF_CYLINDER

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


using namespace vrecko;
using namespace vreckoDP_base;
namespace VirtualFixture{

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

        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 geometry of VF vill be shown on screen
        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)
        float transparency;     //transparency of VF geometry (interval (0,1), 1 = invisible)
        float transparency2;        //transparency of VF geometry (interval (0,1), 1 = invisible) inner cylinder
        osg::Vec4 color;        //VF color (of whole geometry)
        osg::Vec4 color2;       //VF color2 (of center)
        osg::Vec3 position;     //position of starting point
        osg::Vec3 vector;       //vector on cylinder axis (from bottom to top)
        float radius;           //cylinder radius (maximum range of attractive field)
        float nullradius;       //radius close to centre, where attractive field is NOT applied
        float stiffness;        //stiffness of attractive field = how strong it would be for every meter of space
        float pushingforce;         //pushing force along the vector
        bool pushing;           //if true push PHANToM along the vector
};
};

#endif