Hinge.h

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#pragma once

namespace AnimatSim
{
        namespace Environment
        {

                namespace Joints
                {

                        class ANIMAT_PORT Hinge : public AnimatSim::Environment::MotorizedJoint    
                        {
                        protected:
                                ConstraintLimit *m_lpUpperLimit;

                                ConstraintLimit *m_lpLowerLimit;

                                ConstraintLimit *m_lpPosFlap;

                                float m_fltRotationDeg;

                                float m_fltDesiredPositionDeg;

                        public:
                                Hinge();
                                virtual ~Hinge();
                        
                                static Hinge *CastToDerived(AnimatBase *lpBase) {return static_cast<Hinge*>(lpBase);}

                                float CylinderRadius();
                                float CylinderHeight();
                                float FlapWidth();

                                virtual void Enabled(bool bValue);

                                virtual ConstraintLimit *UpperLimit() ;
                                virtual ConstraintLimit *LowerLimit();

                                virtual float GetPositionWithinLimits(float fltPos);
                                virtual float GetLimitRange();

                                virtual bool SetData(const std::string &strDataType, const std::string &strValue, bool bThrowError = true);
                                virtual void AddExternalNodeInput(int iTargetDataType, float fltInput);
                                virtual int GetTargetDataTypeIndex(const std::string &strDataType);
                                virtual void UpdateData();
                                virtual void ResetSimulation();

                                virtual void Load(CStdXml &oXml);
                        };

                }               //Joints
        }                       // Environment
}                               //AnimatSim