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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(__DGUPVECTORCONSTRAINT_563GFT35684GT__INCLUDED_)
#define __DGUPVECTORCONSTRAINT_563GFT35684GT__INCLUDED_
#include "dgBilateralConstraint.h"
//template<class T> class dgPool;
class dgUpVectorConstraint;
typedef dgUnsigned32(dgApi *dgUpVectorJointCallBack)(const dgUpVectorConstraint &upVector);
class dgUpVectorConstraint: public dgBilateralConstraint {
public:
void SetJointParameterCallBack(dgUpVectorJointCallBack callback);
void InitPinDir(const dgVector &pin);
dgVector GetPinDir() const;
void SetPinDir(const dgVector &pin);
virtual bool IsBilateral() const;
private:
dgUpVectorConstraint();
virtual ~dgUpVectorConstraint();
// virtual void Remove(dgWorld* world);
virtual dgUnsigned32 JacobianDerivative(dgContraintDescritor ¶ms);
// static dgUpVectorConstraint* Create(dgWorld* world);
dgUpVectorJointCallBack m_callBack;
// dgUnsigned32 m_reserve[3];
friend class dgWorld;
// friend class dgPool<dgUpVectorConstraint>;
};
/*
class dgUpVectorConstraintArray: public dgPoolContainer<dgUpVectorConstraint>
{
};
*/
#endif // !defined(__DGUPVECTORCONSTRAINT_563GFT35684GT__INCLUDED_)
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