BlConstraintRelaxation.h

// BlConstraintRelaxation.h: interface for the BlConstraintRelaxation class.
//
#pragma once

#include "btAnimatGeneric6DofConstraint.h"

namespace BulletAnimatSim
{
        namespace Environment
        {

                class BULLET_PORT BlConstraintRelaxation : public AnimatSim::Environment::ConstraintRelaxation
                {
                protected:
            btAnimatGeneric6DofConstraint *m_lpConstraint;

            //Pointer to the bullet joint
            BlJoint *m_lpBlJoint;

                        float m_fltMaxLimit;

                        float m_fltMinLimit;

                        float m_fltEqPos;

            //Keeps the inverse damping constant to actually use.
            float m_fltInvDamping;

            //For joints like hinge and prismatic I am allowing them to set a spring in the direction of the joint motion (Z axis). However, the joint
            //itself needs to be the one to determine when to enable/disable the spring because it has to control the motor as well. This flag tells
            // the relaxation that it should not directly set the spring enabled/disabled, that it should allow the joint to do that itself.
            bool m_bDisallowSpringEnable;

                        virtual void SetRelaxationProperties();

                public:
                        BlConstraintRelaxation();
                        virtual ~BlConstraintRelaxation();

                        virtual float MinLimit();
                        virtual void MinLimit(float fltVal, bool bUseScaling = true);

                        virtual float MaxLimit();
                        virtual void MaxLimit(float fltVal, bool bUseScaling = true);

                        virtual float EqPos();
                        virtual void EqPos(float fltVal, bool bUseScaling = true);

                        virtual void Damping(float fltVal, bool bUseScaling = true);

            virtual bool DisallowSpringEnable();
            virtual void DisallowSpringEnable(bool bVal);

            virtual void Initialize();

                        virtual void CreateDefaultUnits();
                        virtual bool SetData(const std::string &strDataType, const std::string &strValue, bool bThrowError = true);
                        virtual void QueryProperties(CStdPtrArray<TypeProperty> &aryProperties);

                        virtual void Load(CStdXml &oXml);
                };

        }                       // Visualization
}                               //BulletAnimatSim