RbHinge.h

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#pragma once

namespace RoboticsAnimatSim
{
        namespace Environment
        {
                namespace Joints
                {
                        class ROBOTICS_PORT RbHinge : public RbMotorizedJoint, public AnimatSim::Environment::Joints::Hinge     
                        {
                        protected:
                virtual void TurnMotorOff();

                        public:
                                RbHinge();
                                virtual ~RbHinge();

                                virtual void JointPosition(float fltPos);

                virtual void SetLimitValues();

#pragma region DataAccesMethods

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

#pragma endregion

                                virtual void EnableLimits(bool bVal);
                                virtual void CreateJoint();
                                virtual void StepSimulation();
                virtual void ResetSimulation();

                virtual void Physics_EnableLock(bool bOn, float fltPosition, float fltMaxLockForce);
                            virtual void Physics_EnableMotor(bool bOn, float fltDesiredVelocity, float fltMaxForce, bool bForceWakeup);
                            virtual void Physics_MaxForce(float fltVal);

                virtual void SetConstraintFriction();
            };

                }               //Joints
        }                       // Environment
}                               //RoboticsAnimatSim