Grid.h

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

using namespace vrecko;
using namespace vreckoDP_base;
namespace VirtualFixture{

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

        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;            //VF switcher
        osg::Vec3 position;     //position of starting point
        osg::Vec3 vector;       //vector on cylinder axis (from bottom to top)
        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 gravity;          //gravity constant (continues linear field)
        bool gravity_on;        //gravity on/off
};

};