NavSphere.h

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

#include "Auxiliary.h"
#include "VibrationLabel.h"

#include <osg/Vec4>
#include <osg/Geode>
#include <osg/MatrixTransform>
#include <osg/Group>


using namespace vrecko;
using namespace vreckoDP_base;
namespace VirtualFixture{

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

        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 geometry
        
        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
        bool visible;           //if geometric representation will be visible

        float radius;           //radius of navigation sphere -> close to 0 for 6DOF NS, for 3DOF NS should be bigger
        float stiffness;        //sphere boundary force
        bool store_origin_flag; //when NS is activated or reactivated we have to store its center position
        osg::Vec3 origin;       //the point where NavSphere were activated ...
        int attenuationtype;    //for choosing different attenuation types (0 - none, 1 - linear, 2 ...)
        float attenuationparam; //parameter of attenuation

        osg::Vec3 actpos;       //actual position of PHANToM device
        osg::Vec3 actdir;       //actual direction of PHANToM stylus (vector)
        bool vibration_flag;    //if object hitted by ray -> true .. then vibrate
        float amplitude;        //vibration of actual hitted object
        float frequency;        //vibration of actual hitted object
        osg::Vec3 direction;    //vibration of actual hitted object
//      osg::Quat actori;       //actual orientation of PHANToM stylus (quaternion)
        osg::MatrixTransform *tnode;        //transform node pointer
        osg::Group *gnode;      //group  pointer
        osg::Geode *node;       //geometry node pointer (ray)
        osg::Geometry *geom;
        osg::Vec4 color;        //ray color 
        float transparency;     //ray transparency

};

};