RbMotorizedJoint.h

#pragma once

namespace RoboticsAnimatSim
{
        namespace Environment
        {

                class ROBOTICS_PORT RbMotorizedJoint : public RbJoint, public IMotorizedJoint
                {
                protected:
                        MotorizedJoint *m_lpThisMotorJoint;
                        bool m_bMotorOn;
            bool m_bJointLocked;

            float m_fltPredictedPos;
            float m_fltNextPredictedPos;

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

                public:
                        RbMotorizedJoint();
                        virtual ~RbMotorizedJoint();

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

        }                       // Environment
}                               //RoboticsAnimatSim