dgUniversalConstraint.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(AFX_DGUNIVERSALCONSTRAINT_H__3FA456TR_INCLUDED)
#define AFX_DGUNIVERSALCONSTRAINT_H__3FA456TR_INCLUDED
#include "dgBilateralConstraint.h"

//template<class T> class dgPool;

class dgUniversalConstraint;

typedef dgUnsigned32(dgApi *dgUniversalJointAcceleration)(const NewtonJoint *const universal, NewtonHingeSliderUpdateDesc *const desc);

class dgUniversalConstraint: public dgBilateralConstraint {
public:
    dgFloat32 GetJointAngle0() const;
    dgFloat32 GetJointAngle1() const;
    dgFloat32 GetJointOmega0() const;
    dgFloat32 GetJointOmega1() const;

    dgVector GetJointForce() const;
    dgFloat32 CalculateStopAlpha0(dgFloat32 angle, const dgJointCallBackParam *param) const;
    dgFloat32 CalculateStopAlpha1(dgFloat32 angle, const dgJointCallBackParam *param) const;
    void SetJointParameterCallBack(dgUniversalJointAcceleration callback);

private:
    virtual dgUnsigned32 JacobianDerivative(dgContraintDescritor &params);
//  virtual void Remove(dgWorld* world);


    dgUniversalConstraint();
    virtual ~dgUniversalConstraint();
//  static dgUniversalConstraint* Create(dgWorld* world);

    dgFloat32 m_angle0;
    dgFloat32 m_angle1;
    dgUniversalJointAcceleration m_jointAccelFnt;

//#ifdef __USE_DOUBLE_PRECISION__
//  dgUnsigned32 m_reserve[3];
//#else
//  dgUnsigned32 m_reserve[1];
//#endif


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

//class dgUniversalConstraintArray: public dgPoolContainer<dgUniversalConstraint>
//{
//};

#endif // !defined(AFX_DGUNIVERSALCONSTRAINT_H__3FA456TR_INCLUDED)