SO3HingeContraint.h

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Copyright (c) 2012 I-maginer
 
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*/
 
#ifndef __SO3HINGECONTRAINT_H__
#define __SO3HINGECONTRAINT_H__
 
#include "SCOLBasic/SO3Prerequisites.h"
#include "SO3PhysicGraph/SO3PhysicContraint.h"
#include "SO3Body.h"
 
namespace SO3
{
 
class SHingeContraint : public SPhysicContraint
{
public:
protected:
private:
  Ogre::Vector3 mPosition;
  Ogre::Vector3 mPin;
  bool mUseLimits;
  bool mUseMotor;
 
public:
  SHingeContraint(SScene* scene, SBody* son, SBody* parent = 0, Ogre::Vector3 position = Ogre::Vector3::ZERO, Ogre::Vector3 pin = Ogre::Vector3::ZERO, bool useLimits = false);
        
  ~SHingeContraint();
 
  virtual void SetParentBody(SBody* body);
 
  virtual void SetSonBody(SBody* body);
 
  void SetLimits(Ogre::Radian maxAngle, Ogre::Radian minAngle);
 
  void UseLimits(bool state);
 
  Ogre::Radian GetAngle();
 
  Ogre::Radian GetAngularVelocity();
 
  Ogre::Vector3 GetForce();
 
  Ogre::Vector3 GetPin();
 
  void SetMotorOmega(Ogre::Radian omega, Ogre::Real strength = 0.5f);
 
  void SetMotorAngle(Ogre::Radian angle, Ogre::Real minFriction = 0, Ogre::Real maxFriction = 0);
 
  void SetTorque(Ogre::Real torque);
 
        void SetBrake(Ogre::Real maxForce = 0);
 
  void UseMotor(bool state);
 
protected:
private:
  SHingeContraint();
  void UpdateJoint();
};
 
}
 
#endif