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/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
*
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
*
* 3. This notice may not be removed or altered from any source distribution.
*/
#ifndef AFX_DGBALLCONSTRAINT_H__7C9E1F9A_5EC6_48BE_8C9F_FB90132C6619__INCLUDED_
#define AFX_DGBALLCONSTRAINT_H__7C9E1F9A_5EC6_48BE_8C9F_FB90132C6619__INCLUDED_
#include "dgBilateralConstraint.h"
// template<class T> class dgPool;
class dgBallConstraint;
typedef void(dgApi *dgBallJointFriction)(const NewtonJoint *const ball, dFloat timestep);
class dgBallConstraint : public dgBilateralConstraint {
public:
dgVector GetJointAngle() const;
dgVector GetJointOmega() const;
dgVector GetJointForce() const;
void SetJointParameterCallBack(dgBallJointFriction callback);
bool GetTwistLimitState() const;
void SetTwistLimitState(bool state);
bool GetConeLimitState() const;
void SetConeLimitState(bool state);
bool GetLatealLimitState() const;
void SetLatealLimitState(bool state);
void SetLimits(const dgVector &coneDir, dgFloat32 minConeAngle, dgFloat32 maxConeAngle, dgFloat32 maxTwistAngle,
const dgVector &bilateralDir, dgFloat32 negativeBilateralConeAngle, dgFloat32 positiveBilateralConeAngle);
private:
dgBallConstraint();
virtual ~dgBallConstraint();
// virtual void Remove (dgWorld* world);
void SetPivotPoint(const dgVector &pivot);
virtual dgUnsigned32 JacobianDerivative(dgContraintDescritor ¶ms);
// static dgBallConstraint* Create(dgWorld* world);
dgVector m_angles;
union limits {
unsigned m_ballLimits;
struct s {
dgUnsigned32 m_coneLimit : 1;
dgUnsigned32 m_twistLimit : 1;
dgUnsigned32 m_lateralLimit : 1;
} s;
} limits;
dgFloat32 m_coneAngle;
dgFloat32 m_twistAngle;
dgFloat32 m_coneAngleCos;
dgBallJointFriction m_jointUserCallback;
// dgUnsigned32 m_reserve[3];
friend class dgWorld;
// friend class dgPool<dgBallConstraint>;
};
// class dgBallConstraintArray: public dgPoolContainer<dgBallConstraint>
//{
// };
#endif
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