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physics/UniversalJoint

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00001 /* **-*-c++-*-**************************************************************
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: UniversalJoint 1031 2004-02-11 20:46:36Z jungd $
00019   $Revision: 1.3 $
00020   $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
00021   $Author: jungd $
00022  
00023 ****************************************************************************/
00024 
00025 #ifndef _PHYSICS_UNIVERSALJOINT_
00026 #define _PHYSICS_UNIVERSALJOINT_
00027 
00028 #include <physics/physics>
00029 #include <physics/Joint>
00030 
00031 
00032 namespace physics {
00033 
00034 
00035 class UniversalJoint : virtual public Joint
00036 {
00037 public:
00038   UniversalJoint() {}
00039   virtual ~UniversalJoint() {}
00040 
00041   virtual void    setAnchor(const Point3& p) = 0; ///< body1 relative
00042   virtual Point3  getAnchor() const = 0;
00043 
00044   virtual void    setAxis1(const Vector3& v) = 0; ///< body1 relative
00045   virtual Vector3 getAxis1() const = 0;
00046   
00047   virtual void    setAxis2(const Vector3& v) = 0; ///< body1 relative
00048   virtual Vector3 getAxis2() const = 0;
00049   
00050 };
00051 
00052 
00053 } // physics
00054 
00055 #endif

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