VisualizeFilter.h

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#ifndef VISUALIZE_FILTER_H
#define VISUALIZE_FILTER_H

#include <vreckoDP/PHANToM/PHANToM_Device.h>

#ifdef COMPILE_PHANTOM_DEVICE

namespace vreckoDP_PHANToM {

/* PHANToM filter to display the force/torque. */
class VisualizeFilter : public PHANToMFilter {
public:
    VisualizeFilter();

    virtual bool loadXMLParameters(XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *parameters);

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

protected:
    unsigned long forceObject, torqueObject;

    float forceScale, torqueScale;

    void updateObjectTransform(unsigned long objectID, osg::Vec3 &start, osg::Vec3 &dir, float fScale);
};

}

#endif


#endif