00001 /**************************************************************************** 00002 Copyright (C)1996 David Jung <opensim@pobox.com> 00003 00004 This program/file is free software; you can redistribute it and/or modify 00005 it under the terms of the GNU General Public License as published by 00006 the Free Software Foundation; either version 2 of the License, or 00007 (at your option) any later version. 00008 00009 This program is distributed in the hope that it will be useful, 00010 but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 GNU General Public License for more details. (http://www.gnu.org) 00013 00014 You should have received a copy of the GNU General Public License 00015 along with this program; if not, write to the Free Software 00016 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00017 00018 $Id: ODEJoint 1031 2004-02-11 20:46:36Z jungd $ 00019 $Revision: 1.2 $ 00020 $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $ 00021 $Author: jungd $ 00022 00023 ****************************************************************************/ 00024 00025 #ifndef _PHYSICS_ODEJOINT_ 00026 #define _PHYSICS_ODEJOINT_ 00027 00028 #include <physics/physics> 00029 #include <physics/Joint> 00030 #include <physics/ODEMotor> 00031 #include <physics/ODEConstraint> 00032 00033 00034 namespace physics { 00035 00036 00037 class ODEJoint : virtual public Joint, public ODEConstraint 00038 { 00039 public: 00040 ODEJoint(); 00041 virtual ~ODEJoint(); 00042 00043 virtual void attach(ref<Body> body1, ref<Body> body2); ///< attach this constraint to two bodies 00044 virtual ref<Body> getBody(Int index); ///< get Body (index is 1 or 2); returns null if unattached 00045 virtual ref<const Body> getBody(Int index) const; 00046 00047 virtual void attachMotor(Int dof, ref<Motor> motor); ///< attach Motor to dof n, or remove if motor==0 00048 virtual ref<Motor> getMotor(Int dof); ///< get Motor on dof n, or 0 if none 00049 virtual ref<const Motor> getMotor(Int dof) const; 00050 00051 protected: 00052 00053 inline void checkAddedAndAttached() const 00054 { 00055 Assertm(!((body1 == 0) && (body2 == 0)), "Joint is attached to Bodies"); 00056 Assertm(group!=0,"Joint is member of ConstraintGroup"); 00057 } 00058 00059 ref<Body> body1; 00060 ref<Body> body2; 00061 00062 virtual bool hasMotor(Int dof) const = 0; ///< implemented by concrete ODEJoint classes to indicate which DOF's can have a Motor attached 00063 virtual void setMotorTargetVel(Int dof, Real vel) = 0; ///< implemented by concrete ODEJoint classes 00064 virtual void setMotorMaxForce(Int dof, Real force) = 0;///< implemented by concrete ODEJoint classes 00065 00066 ref<ODEMotor> motors[6]; // no ODE joint has more than 6 dof 00067 00068 friend class ODEMotor; 00069 }; 00070 00071 00072 } // physics 00073 00074 #endif
1.3.6