/* Copyright (c) <2009> <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
*/


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

#if !defined(AFX_CustomPulley_H__B631F556_468B_4331_B7D7_INCLUDED_)
#define AFX_CustomPulley_H__B631F556_468B_4331_B7D7_INCLUDED_

#include "NewtonCustomJoint.h"

// this joint is for used in conjunction with Slider of other linear joints
// is is useful for establishing synchronization between the rel;ative position 
// or relative linear velocity of two sliding bodies according to the law of pulley
// velErro = -(v0 + n * v1)
// where v0 and v1 are the linear velocity
// n is the number of turn on the pulley, in the case of this joint N coudl
// be a velue with fraction, as this joint is a generalization of the pulley idea.
class JOINTLIBRARY_API CustomPulley: public NewtonCustomJoint  
{
	public:
	CustomPulley(dFloat pulleyRatio, 
			   const dVector& childPin, const dVector& parentPin, 
			   NewtonBody* parenPin, NewtonBody* parent);
	virtual ~CustomPulley();


	protected:
	virtual void SubmitConstraints (dFloat timestep, int threadIndex);
	virtual void GetInfo (NewtonJointRecord* info) const;

	dMatrix m_localMatrix0;
	dMatrix m_localMatrix1;

	dFloat m_gearRatio;
};

#endif