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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.
*/
#if !defined(AFX_DGHINGECONSTRAINT_H__3FF7D7AA_90CC_4BA5_B2A4_D3BA51AD2FFD__INCLUDED_)
#define AFX_DGHINGECONSTRAINT_H__3FF7D7AA_90CC_4BA5_B2A4_D3BA51AD2FFD__INCLUDED_
#include "dgBilateralConstraint.h"
//template<class T> class dgPool;
class dgHingeConstraint;
typedef dgUnsigned32(dgApi *dgHingeJointAcceleration)(const NewtonJoint *const hinge, NewtonHingeSliderUpdateDesc *const desc);
class dgHingeConstraint: public dgBilateralConstraint {
public:
dgFloat32 GetJointAngle() const;
dgFloat32 GetJointOmega() const;
dgVector GetJointForce() const;
dgFloat32 CalculateStopAlpha(dgFloat32 angle, const dgJointCallBackParam *param) const;
void SetJointParameterCallBack(dgHingeJointAcceleration callback);
private:
virtual dgUnsigned32 JacobianDerivative(dgContraintDescritor ¶ms);
// virtual void Remove(dgWorld* world);
dgHingeConstraint();
virtual ~dgHingeConstraint();
// static dgHingeConstraint* Create(dgWorld* world);
dgFloat32 m_angle;
dgHingeJointAcceleration m_jointAccelFnt;
//#ifdef __USE_DOUBLE_PRECISION__
// dgUnsigned32 m_reserve[1];
//#else
// dgUnsigned32 m_reserve[2];
//#endif
friend class dgWorld;
// friend class dgPool<dgHingeConstraint>;
};
//class dgHingeConstraintArray: public dgPoolContainer<dgHingeConstraint>
//{
//};
#endif // !defined(AFX_DGHINGECONSTRAINT_H__3FF7D7AA_90CC_4BA5_B2A4_D3BA51AD2FFD__INCLUDED_)
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