Joint.h

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/*  Copyright (C) 2003-2021 Free Electron Organization
    Any use of this software requires a license.  If a valid license
    was not distributed with this file, visit freeelectron.org. */

/** @file */

#ifndef __ode_Joint_h__
#define __ode_Joint_h__
namespace fe
{
namespace ext
{

class FE_DL_EXPORT Joint : public JointI
{
    public:
                Joint(dWorldID a_world_id, JointType a_type,
                    sp<BodyI> a_A, sp<BodyI> a_B);
                Joint(dWorldID, sp<BodyI> a_A,
                    const SpatialVector &a_location,
                    const SpatialVector &a_normal,
                    Real a_depth,Real a_stiffness,
                    Real a_damping, Real a_timestep);
virtual         ~Joint(void);

virtual void    setAnchor(const Vector3 &a_anchor);
virtual void    setAxis(const Vector3 &a_axis);
virtual void    limitRange(Real a_angleLo, Real a_angleHi);
virtual void    setSpring(Real a_timestep, Real a_stiffness, Real a_damping);
virtual hp<MechanicsSimI> &sim(void) { return m_spSim; }



    private:
        dJointID            m_id;
        JointType           m_type;
        hp<MechanicsSimI>   m_spSim;
};

class FE_DL_EXPORT DistanceJoint : public JointI
{
};

} /* namespace ext */
} /* namespace fe */

#endif /* __ode_Joint_h__ */