00001 /* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*- 00002 this file is part of rcssserver3D 00003 Fri May 9 2003 00004 Copyright (C) 2003 Koblenz University 00005 $Id: universaljoint.h,v 1.5 2006/01/05 14:57:44 jboedeck Exp $ 00006 00007 This program is free software; you can redistribute it and/or modify 00008 it under the terms of the GNU General Public License as published by 00009 the Free Software Foundation; version 2 of the License. 00010 00011 This program is distributed in the hope that it will be useful, 00012 but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 GNU General Public License for more details. 00015 00016 You should have received a copy of the GNU General Public License 00017 along with this program; if not, write to the Free Software 00018 Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. 00019 */ 00020 #ifndef OXYGEN_UNIVERSALJOINT_H 00021 #define OXYGEN_UNIVERSALJOINT_H 00022 00023 #include "joint.h" 00024 00025 namespace oxygen 00026 { 00027 class Body; 00028 00029 class UniversalJoint : public Joint 00030 { 00031 public: 00032 UniversalJoint(); 00033 virtual ~UniversalJoint(); 00034 00039 void SetAnchor(const salt::Vector3f& anchor); 00040 00045 salt::Vector3f GetAnchor (EBodyIndex idx); 00046 00050 void SetAxis1(salt::Vector3f & axis); 00051 00055 void SetAxis2(salt::Vector3f & axis); 00056 00061 salt::Vector3f GetAxis(EAxisIndex idx); 00062 00067 float GetAngle(EAxisIndex idx); 00068 00070 float GetAngleRate(EAxisIndex idx); 00071 00073 virtual void SetParameter(int parameter, float value); 00074 00076 virtual float GetParameter(int parameter); 00077 00078 protected: 00080 virtual void OnLink(); 00081 }; 00082 00083 DECLARE_CLASS(UniversalJoint); 00084 00085 } // namespace oxygen 00086 00087 #endif // OXYGEN_UNIVERSALJOINT_H