00001 #ifndef ODEHINGE2JOINT_H
00002 #define ODEHINGE2JOINT_H
00003
00004 #include "pandabase.h"
00005 #include "typedObject.h"
00006 #include "luse.h"
00007
00008 #include "ode_includes.h"
00009
00010 #include "odeJoint.h"
00011
00012
00013
00014
00015
00016 class EXPCL_PANDAODE OdeHinge2Joint : public OdeJoint {
00017 friend class OdeJoint;
00018
00019 private:
00020 OdeHinge2Joint(dJointID id);
00021
00022 PUBLISHED:
00023 OdeHinge2Joint(OdeWorld &world, OdeJointGroup &joint_group);
00024 OdeHinge2Joint(OdeWorld &world);
00025 virtual ~OdeHinge2Joint();
00026
00027 INLINE void set_anchor(dReal x, dReal y, dReal z);
00028 INLINE void set_anchor(const LVecBase3f &anchor);
00029 INLINE void set_axis1(dReal x, dReal y, dReal z);
00030 INLINE void set_axis1(const LVecBase3f &axis);
00031 INLINE void set_axis2(dReal x, dReal y, dReal z);
00032 INLINE void set_axis2(const LVecBase3f &axis);
00033 INLINE void add_torques(dReal torque1, dReal torque2);
00034
00035 INLINE LVecBase3f get_anchor() const;
00036 INLINE LVecBase3f get_anchor2() const;
00037 INLINE LVecBase3f get_axis1() const;
00038 INLINE LVecBase3f get_axis2() const;
00039 INLINE dReal get_angle1() const;
00040 INLINE dReal get_angle1_rate() const;
00041 INLINE dReal get_angle2_rate() const;
00042
00043 INLINE void set_param_lo_stop(int axis, dReal val);
00044 INLINE void set_param_hi_stop(int axis, dReal val);
00045 INLINE void set_param_vel(int axis, dReal val);
00046 INLINE void set_param_f_max(int axis, dReal val);
00047 INLINE void set_param_fudge_factor(int axis, dReal val);
00048 INLINE void set_param_bounce(int axis, dReal val);
00049 INLINE void set_param_CFM(int axis, dReal val);
00050 INLINE void set_param_stop_ERP(int axis, dReal val);
00051 INLINE void set_param_stop_CFM(int axis, dReal val);
00052 INLINE void set_param_suspension_ERP(int axis, dReal val);
00053 INLINE void set_param_suspension_CFM(int axis, dReal val);
00054
00055 INLINE dReal get_param_lo_stop(int axis) const;
00056 INLINE dReal get_param_hi_stop(int axis) const;
00057 INLINE dReal get_param_vel(int axis) const;
00058 INLINE dReal get_param_f_max(int axis) const;
00059 INLINE dReal get_param_fudge_factor(int axis) const;
00060 INLINE dReal get_param_bounce(int axis) const;
00061 INLINE dReal get_param_CFM(int axis) const;
00062 INLINE dReal get_param_stop_ERP(int axis) const;
00063 INLINE dReal get_param_stop_CFM(int axis) const;
00064 INLINE dReal get_param_suspension_ERP(int axis) const;
00065 INLINE dReal get_param_suspension_CFM(int axis) const;
00066
00067 public:
00068 static TypeHandle get_class_type() {
00069 return _type_handle;
00070 }
00071 static void init_type() {
00072 OdeJoint::init_type();
00073 register_type(_type_handle, "OdeHinge2Joint",
00074 OdeJoint::get_class_type());
00075 }
00076 virtual TypeHandle get_type() const {
00077 return get_class_type();
00078 }
00079 virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
00080
00081 private:
00082 static TypeHandle _type_handle;
00083 };
00084
00085 #include "odeHinge2Joint.I"
00086
00087 #endif