dgUpVectorConstraint.h

/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
*
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
*
* 3. This notice may not be removed or altered from any source distribution.
*/

#if !defined(__DGUPVECTORCONSTRAINT_563GFT35684GT__INCLUDED_)
#define __DGUPVECTORCONSTRAINT_563GFT35684GT__INCLUDED_
#include "dgBilateralConstraint.h"

//template<class T> class dgPool;

class dgUpVectorConstraint;

typedef dgUnsigned32(dgApi *dgUpVectorJointCallBack)(const dgUpVectorConstraint &upVector);

class dgUpVectorConstraint: public dgBilateralConstraint {
public:
    void SetJointParameterCallBack(dgUpVectorJointCallBack callback);
    void InitPinDir(const dgVector &pin);

    dgVector GetPinDir() const;
    void SetPinDir(const dgVector &pin);

    virtual bool IsBilateral() const;

private:
    dgUpVectorConstraint();
    virtual ~dgUpVectorConstraint();
//  virtual void Remove(dgWorld* world);

    virtual dgUnsigned32 JacobianDerivative(dgContraintDescritor &params);
//  static dgUpVectorConstraint* Create(dgWorld* world);

    dgUpVectorJointCallBack m_callBack;
//  dgUnsigned32 m_reserve[3];

    friend class dgWorld;
//  friend class dgPool<dgUpVectorConstraint>;
};

/*
class dgUpVectorConstraintArray: public dgPoolContainer<dgUpVectorConstraint>
{
};
*/

#endif // !defined(__DGUPVECTORCONSTRAINT_563GFT35684GT__INCLUDED_)