RbJoint.h

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

#pragma once

namespace RoboticsAnimatSim
{
        namespace Environment
        {
                class RbRigidBody;

                class ROBOTICS_PORT RbJoint : public RbBody
                {
                protected:
            RbSimulator *m_lpRbSim;
            float m_fltPrevBtJointPos;
            float m_fltPrevJointPos;

                        Joint *m_lpThisJoint;
            RbRigidBody *m_lpRbParent;
            RbRigidBody *m_lpRbChild;

                        virtual void SetThisPointers();
                        virtual RbSimulator *GetRbSimulator();

                public:
                        RbJoint();
                        virtual ~RbJoint();

            virtual RbRigidBody *GetRbParent() {return m_lpRbParent;};
            virtual RbRigidBody *GetRbChild() {return m_lpRbChild;};

            virtual bool Physics_IsDefined() {return true;};
            virtual bool Physics_IsGeometryDefined() {return true;};
            virtual void Physics_EnableCollision(AnimatSim::Environment::RigidBody *lpBody) {};
            virtual void Physics_DisableCollision(AnimatSim::Environment::RigidBody *lpBody) {};
            virtual void Physics_AddBodyForceAtLocalPos(float fltPx, float fltPy, float fltPz, float fltFx, float fltFy, float fltFz, bool bScaleUnits) {};
            virtual void Physics_AddBodyForceAtWorldPos(float fltPx, float fltPy, float fltPz, float fltFx, float fltFy, float fltFz, bool bScaleUnits) {};
            virtual void Physics_AddBodyTorque(float fltTx, float fltTy, float fltTz, bool bScaleUnits) {};
            virtual CStdFPoint Physics_GetVelocityAtPoint(float x, float y, float z) {CStdFPoint vVel; return vVel;};

            virtual void Physics_ResetSimulation();
            virtual void Physics_CollectData();
            virtual void SetConstraintFriction() {};
                };

        }                       // Environment
}                               //RoboticsAnimatSim