BlJoint.h

// BlJoint.h: interface for the BlJoint class.
//

#pragma once

#include "BlConstraintRelaxation.h"

namespace BulletAnimatSim
{
        namespace Environment
        {
                class BlRigidBody;

                class BULLET_PORT BlJoint : public OsgJoint
                {
                protected:
                        btTypedConstraint *m_btJoint;
            btAnimatGeneric6DofConstraint *m_bt6DofJoint;
            BlSimulator *m_lpVsSim;
            float m_fltPrevBtJointPos;
            float m_fltPrevJointPos;

            BlRigidBody *m_lpBlParent;
            BlRigidBody *m_lpBlChild;

            btRigidBody *m_btParent;
            btRigidBody *m_btChild;

            BlConstraintRelaxation *m_aryBlRelaxations[6];

            btVector3 m_vLowerLinear;
            btVector3 m_vUpperLinear;
            btVector3 m_vLowerAngular;
            btVector3 m_vUpperAngular;

                        virtual BlSimulator *GetBlSimulator();

            virtual void CalculateRelativeJointMatrices(btTransform &mtJointRelToParent, btTransform &mtJointRelToChild);
            virtual void CalculateRelativeJointMatrices(CStdFPoint vAdditionalRot, btTransform &mtJointRelToParent, btTransform &mtJointRelToChild);
            virtual void InitBaseJointPointers(RigidBody *lpParent, RigidBody *lpChild, ConstraintRelaxation **aryRelaxations, int iDisallowSpringIndex);

                        virtual float GetCurrentBtPositionScaled();

                public:
                        BlJoint();
                        virtual ~BlJoint();

            virtual BlRigidBody *GetBlParent() {return m_lpBlParent;};
            virtual BlRigidBody *GetBlChild() {return m_lpBlChild;};

            virtual btRigidBody *GetBtParent() {return m_btParent;};
            virtual btRigidBody *GetBtChild() {return m_btChild;};

                        virtual void DeletePhysics(bool bIncludeChildren);

            virtual bool Physics_IsDefined();
                        virtual void Physics_ResetSimulation();
            virtual void Physics_CollectData();
            virtual void SetConstraintFriction() {};
            virtual void AxisConstraintSpringEnableChanged(bool bEnabled) {};
            
            virtual float GetCurrentBtPosition() {return 0;};

            virtual void GetLimitsFromRelaxations(btVector3 &vLowerLinear, btVector3 &UpperLinear, btVector3 &vLowerAngular, btVector3 &vUpperAngular);
            virtual void SetLimitValues();

                        virtual btTypedConstraint* Constraint() {return m_btJoint;};
                };

        }                       // Environment
}                               //BulletAnimatSim