BlMotorizedJoint.h

#pragma once

namespace BulletAnimatSim
{
        namespace Environment
        {

                class BULLET_PORT BlMotorizedJoint : public BlJoint, public IMotorizedJoint
                {
                protected:
                        MotorizedJoint *m_lpThisMotorJoint;
                        bool m_bMotorOn;
            bool m_bJointLocked;

            float m_fltPredictedPos;
            float m_fltNextPredictedPos;

            btJointFeedback m_btJointFeedback;

                        virtual void SetThisPointers();
                        virtual void CalculateServoVelocity();

                public:
                        BlMotorizedJoint();
                        virtual ~BlMotorizedJoint();

                        virtual bool JointIsLocked() = 0;

                    virtual void Physics_SetVelocityToDesired();
            virtual void Physics_CollectExtraData();
        };

        }                       // Environment
}                               //BulletAnimatSim