BulletScrewJoint.hh

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/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003
 *     Nate Koenig
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/* Desc: A screw or primastic joint
 * Author: Nate Koenig
 * Date: 24 May 2009
 */

#ifndef _BULLETSCREWJOINT_HH_
#define _BULLETSCREWJOINT_HH_

#include "physics/bullet/BulletJoint.hh"
#include "physics/ScrewJoint.hh"

class btSliderConstraint;

namespace gazebo
{
  namespace physics
  {

    class BulletScrewJoint : public ScrewJoint<BulletJoint>
    {
      public: BulletScrewJoint(btDynamicsWorld *world, BasePtr _parent);

      public: virtual ~BulletScrewJoint();

      protected: virtual void Load(sdf::ElementPtr _sdf);

      public: void Attach(LinkPtr _one, LinkPtr _two);

      public: void SetAxis(int _index, const math::Vector3 &_axis);

      public: virtual void SetDamping(int _index, double _damping);

      public: virtual void SetHighStop(int _index, const math::Angle &_angle);

      public: virtual void SetLowStop(int _index, const math::Angle &_angle);

      public: virtual math::Angle GetHighStop(int _index);

      public: virtual math::Angle GetLowStop(int _index);

      public: virtual math::Angle GetAngle(int _index) const;

      public: virtual double GetVelocity(int _index) const;

      public: virtual void SetVelocity(int _index, double _angle);

      public: virtual void SetForce(int _index, double _force);

      public: virtual void SetMaxForce(int _index, double _t);

      public: virtual double GetMaxForce(int _index);

      public: virtual math::Vector3 GetGlobalAxis(int _index) const;

      public: virtual math::Angle GetAngleImpl(int _index) const;

      private: btSliderConstraint *btScrew;
    };
  }
}
#endif