physics/DoubleHingeJoint

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/****************************************************************************
  Copyright (C)1996 David Jung <opensim@pobox.com>

  This program/file is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.
  
  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details. (http://www.gnu.org)
  
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  
  $Id: DoubleHingeJoint 1031 2004-02-11 20:46:36Z jungd $
  $Revision: 1.2 $
  $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _PHYSICS_DOUBLEHINGEJOINT_
#define _PHYSICS_DOUBLEHINGEJOINT_

#include <physics/physics>
#include <physics/Joint>


namespace physics {


class DoubleHingeJoint : virtual public Joint
{
public:
  DoubleHingeJoint() {}
  virtual ~DoubleHingeJoint() {}

  virtual void    setAnchor(const Point3& p) = 0; ///< body1 relative
  virtual Point3  getAnchor() const = 0;

  virtual void    setAxis1(const Vector3& v) = 0; ///< body1 relative
  virtual Vector3 getAxis1() const = 0;
  
  virtual void    setAxis2(const Vector3& v) = 0; ///< body2 relative
  virtual Vector3 getAxis2() const = 0;
  
  virtual Real   getAngle1() const = 0;
  virtual Real   getAngle1Rate() const = 0;
  virtual Real   getAngle2Rate() const = 0;

  virtual void   setHighStop(Int dof, Real angle) = 0; ///< upper joint stop (-pi..+pi), dof (1|2)
  virtual void   setLowStop(Int dof, Real angle) = 0;  ///< lower joint stop (-pi..+pi), dof (1|2)
  virtual void   setStopRestitution(Int dof, Real r) = 0; ///< 'bouncyness' of the stops (0..1)
};


} // physics

#endif

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