Damper.h

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

using namespace vrecko;
using namespace vreckoDP_base;
namespace VirtualFixture{

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

        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);

        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;        //if true, attractive field will be active
        float minspeed;     //if velocity is less then minspeed damper will be inactive
        float speed2force;  //damping coeficient
};

};