physics/ODEMotor

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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: ODEMotor 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_ODEMOTOR_
#define _PHYSICS_ODEMOTOR_

#include <physics/physics>
#include <physics/Motor>

namespace physics {

class ODEJoint;


class ODEMotor : public Motor
{
public:
  ODEMotor();
  virtual ~ODEMotor();

  virtual String className() const { return String("ODEMotor"); }
  virtual Object& clone() const { return *NewNamedObj(className()) ODEMotor(); }

  virtual void setTargetVel(Real vel);  ///< target linear or angular velocity 
  virtual void setMaxForce(Real force); ///< limit on applied force or torque

  virtual ref<Joint> getJoint(); ///< Joint which Motor drives
  virtual ref<const Joint> getJoint() const;
  virtual void setParameter(const String& name, Real value);

protected:
  void setJoint(ref<Joint> joint, Int dof); ///< called by ODEJoint::attachMotor()
  inline void checkAttached() const
    { Assertm(joint !=0, "attached to a joint"); }

  ref<ODEJoint> joint;  ///< joint to which motor is attached (or 0)
  Int dof;              ///< which of the Joint's DOF this motor controls

  friend class ODEJoint;
};


} // physics

#endif

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