<?xml version="1.0" encoding="UTF-8"?>
<!--


-->

<Group>

  <!--Background skyColor="1.0 1.0 1.0"/-->
  <!--Background skyColor="0.5 0.5 0.5"/-->
  
  <!--Shape>
    <Appearance>
      <Material DEF="MATERIAL" emissiveColor="1.0 0.0 0.0" />
      <SmoothSurface stiffness="0.1" />
    </Appearance>
    <Sphere radius="0.2" />
    <Cylinder radius="0.005" height="0.1" />
 
  </Shape-->
  
  <!--Shape>
    <Appearance>
      <Material emissiveColor="1 0 0"/>
      <MagneticSurface />
    </Appearance>
    <LineSet vertexCount="4">
      <Coordinate point="0.1 0.1 0, 0.1 -0.1 0, -0.1 -0.1 0, -0.1 0.1 0"/>
    </LineSet>
  </Shape-->

  <Transform
      DEF="VOLUME"
      scale="1 1 1"
      rotation="1 0 0 0" >

    <VolumeRenderer
        planes="100" >

      <ImageObjectTexture>
        <ScalarVolume
            DEF="SCALAR"
            containerField="imageObject"
            url="hapticTool/data/sphere_128x128x128_u8.raw" >
          <ManipImageLoader
              padding="true">
            <RawImageLoader
                width="128" height="128" depth="128"
                bitsPerPixel="8"
                pixelType="LUMINANCE"
                pixelComponentType="UNSIGNED"
                pixelSize="0.001 0.001 0.001" />
          </ManipImageLoader>
        </ScalarVolume>
      </ImageObjectTexture>

      <RGBFunction>
        <PiecewiseFunction
            containerField="red"
            continuous="true"
            segments="0.00  0.0
                      1.00  1.0" />
        <PiecewiseFunction
            containerField="green"
            continuous="true"
            segments="0.00  0.0
                      1.00  1.0" />
        <PiecewiseFunction
            containerField="blue"
            continuous="true"
            segments="0.00  0.0
                      1.00  1.0" />
      </RGBFunction>
      <PiecewiseFunction
          containerField="alphaFunction"
          continuous="true"
          segments="0.10  0.0
                    0.20  0.1
                    0.60  0.1
                    0.70  0.3
                    1.00  0.3" />
    </VolumeRenderer>


    <ScalarSurfaceFrictionMode
        active="true" >

      <ScalarVolume
          USE="SCALAR" />

      <WindowFunction
          level=".5"
          width="1"
          roof="5"
          containerField="strength" />

      <WindowFunction
          level=".5"
          width="-1"
          containerField="friction" />

      <PiecewiseFunction
          continuous="true"
          segments="0.0  0.0,
                    0.01 1.0,
                    100  1.0"
          containerField="distinctness" />

    </ScalarSurfaceFrictionMode>

  </Transform>

</Group>