71 lines
2.2 KiB
C++
71 lines
2.2 KiB
C++
/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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*
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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*
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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*
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#if !defined(AFX_DGHINGECONSTRAINT_H__3FF7D7AA_90CC_4BA5_B2A4_D3BA51AD2FFD__INCLUDED_)
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#define AFX_DGHINGECONSTRAINT_H__3FF7D7AA_90CC_4BA5_B2A4_D3BA51AD2FFD__INCLUDED_
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#include "dgBilateralConstraint.h"
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//template<class T> class dgPool;
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class dgHingeConstraint;
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typedef dgUnsigned32(dgApi *dgHingeJointAcceleration)(const NewtonJoint *const hinge, NewtonHingeSliderUpdateDesc *const desc);
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class dgHingeConstraint: public dgBilateralConstraint {
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public:
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dgFloat32 GetJointAngle() const;
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dgFloat32 GetJointOmega() const;
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dgVector GetJointForce() const;
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dgFloat32 CalculateStopAlpha(dgFloat32 angle, const dgJointCallBackParam *param) const;
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void SetJointParameterCallBack(dgHingeJointAcceleration callback);
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private:
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virtual dgUnsigned32 JacobianDerivative(dgContraintDescritor ¶ms);
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// virtual void Remove(dgWorld* world);
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dgHingeConstraint();
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virtual ~dgHingeConstraint();
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// static dgHingeConstraint* Create(dgWorld* world);
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dgFloat32 m_angle;
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dgHingeJointAcceleration m_jointAccelFnt;
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//#ifdef __USE_DOUBLE_PRECISION__
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// dgUnsigned32 m_reserve[1];
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//#else
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// dgUnsigned32 m_reserve[2];
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//#endif
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friend class dgWorld;
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// friend class dgPool<dgHingeConstraint>;
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};
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//class dgHingeConstraintArray: public dgPoolContainer<dgHingeConstraint>
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//{
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//};
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#endif // !defined(AFX_DGHINGECONSTRAINT_H__3FF7D7AA_90CC_4BA5_B2A4_D3BA51AD2FFD__INCLUDED_)
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