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engines/hpl1/engine/libraries/newton/physics/dgBallConstraint.h

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+/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
+ *
+ * This software is provided 'as-is', without any express or implied
+ * warranty. In no event will the authors be held liable for any damages
+ * arising from the use of this software.
+ *
+ * Permission is granted to anyone to use this software for any purpose,
+ * including commercial applications, and to alter it and redistribute it
+ * freely, subject to the following restrictions:
+ *
+ * 1. The origin of this software must not be misrepresented; you must not
+ * claim that you wrote the original software. If you use this software
+ * in a product, an acknowledgment in the product documentation would be
+ * appreciated but is not required.
+ *
+ * 2. Altered source versions must be plainly marked as such, and must not be
+ * misrepresented as being the original software.
+ *
+ * 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#ifndef AFX_DGBALLCONSTRAINT_H__7C9E1F9A_5EC6_48BE_8C9F_FB90132C6619__INCLUDED_
+#define AFX_DGBALLCONSTRAINT_H__7C9E1F9A_5EC6_48BE_8C9F_FB90132C6619__INCLUDED_
+#include "dgBilateralConstraint.h"
+
+
+// template<class T>    class dgPool;
+
+class dgBallConstraint;
+typedef void(dgApi *dgBallJointFriction)(const NewtonJoint *const ball, dFloat timestep);
+
+class dgBallConstraint : public dgBilateralConstraint {
+public:
+	dgVector GetJointAngle() const;
+	dgVector GetJointOmega() const;
+	dgVector GetJointForce() const;
+	void SetJointParameterCallBack(dgBallJointFriction callback);
+
+	bool GetTwistLimitState() const;
+	void SetTwistLimitState(bool state);
+
+	bool GetConeLimitState() const;
+	void SetConeLimitState(bool state);
+
+	bool GetLatealLimitState() const;
+	void SetLatealLimitState(bool state);
+
+	void SetLimits(const dgVector &coneDir, dgFloat32 minConeAngle, dgFloat32 maxConeAngle, dgFloat32 maxTwistAngle,
+	               const dgVector &bilateralDir, dgFloat32 negativeBilateralConeAngle, dgFloat32 positiveBilateralConeAngle);
+
+private:
+	dgBallConstraint();
+	virtual ~dgBallConstraint();
+	//  virtual void Remove (dgWorld* world);
+
+	void SetPivotPoint(const dgVector &pivot);
+	virtual dgUnsigned32 JacobianDerivative(dgContraintDescritor &params);
+	//  static dgBallConstraint* Create(dgWorld* world);
+
+	dgVector m_angles;
+	union limits {
+		unsigned m_ballLimits;
+		struct s {
+			dgUnsigned32 m_coneLimit : 1;
+			dgUnsigned32 m_twistLimit : 1;
+			dgUnsigned32 m_lateralLimit : 1;
+		} s;
+	} limits;
+	dgFloat32 m_coneAngle;
+	dgFloat32 m_twistAngle;
+	dgFloat32 m_coneAngleCos;
+	dgBallJointFriction m_jointUserCallback;
+
+	//  dgUnsigned32 m_reserve[3];
+
+	friend class dgWorld;
+	//  friend class dgPool<dgBallConstraint>;
+};
+
+// class dgBallConstraintArray: public dgPoolContainer<dgBallConstraint>
+//{
+// };
+
+#endif