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universaljoint.h

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00001 /* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
00002    this file is part of rcssserver3D
00003    Fri May 9 2003
00004    Copyright (C) 2003 Koblenz University
00005    $Id: universaljoint.h,v 1.5 2006/01/05 14:57:44 jboedeck Exp $
00006 
00007    This program is free software; you can redistribute it and/or modify
00008    it under the terms of the GNU General Public License as published by
00009    the Free Software Foundation; version 2 of the License.
00010 
00011    This program is distributed in the hope that it will be useful,
00012    but WITHOUT ANY WARRANTY; without even the implied warranty of
00013    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014    GNU General Public License for more details.
00015 
00016    You should have received a copy of the GNU General Public License
00017    along with this program; if not, write to the Free Software
00018    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00019 */
00020 #ifndef OXYGEN_UNIVERSALJOINT_H
00021 #define OXYGEN_UNIVERSALJOINT_H
00022 
00023 #include "joint.h"
00024 
00025 namespace oxygen
00026 {
00027 class Body;
00028 
00029 class UniversalJoint : public Joint
00030 {
00031 public:
00032     UniversalJoint();
00033     virtual ~UniversalJoint();
00034 
00039     void SetAnchor(const salt::Vector3f& anchor);
00040 
00045     salt::Vector3f GetAnchor (EBodyIndex idx);
00046 
00050     void SetAxis1(salt::Vector3f & axis);
00051 
00055     void SetAxis2(salt::Vector3f & axis);
00056 
00061     salt::Vector3f GetAxis(EAxisIndex idx);
00062 
00067     float GetAngle(EAxisIndex idx);
00068 
00070     float GetAngleRate(EAxisIndex idx);
00071 
00073     virtual void SetParameter(int parameter, float value);
00074 
00076     virtual float GetParameter(int parameter);
00077 
00078 protected:
00080     virtual void OnLink();
00081 };
00082 
00083 DECLARE_CLASS(UniversalJoint);
00084 
00085 } // namespace oxygen
00086 
00087 #endif // OXYGEN_UNIVERSALJOINT_H

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