phyuniversal.h

/********************************************************************************
 *  WorldSim -- library for robot simulations                                   *
 *  Copyright (C) 2008-2011 Gianluca Massera <emmegian@yahoo.it>                *
 *                                                                              *
 *  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., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA  *
 ********************************************************************************/

#ifndef PHYUNIVERSAL_H
#define PHYUNIVERSAL_H

#include "worldsimconfig.h"
#include "world.h"
#include "phyobject.h"
#include "wvector.h"
#include "wmatrix.h"
#include "wquaternion.h"
#include "phyjoint.h"

namespace farsa {

class FARSA_WSIM_API PhyUniversal : public PhyJoint {
public:
    PhyUniversal( const wVector& firstAxis, const wVector& secondAxis, const wVector& centre, PhyObject* parent, PhyObject* child, bool cp=true );

    virtual void updateJointInfo();

    virtual wVector centre();

    virtual wVector getForceOnJoint() const;

protected:
    wMatrix localMatrixParent;
    wMatrix localMatrixChild;

    wMatrix globalMatrixParent;
    wMatrix globalMatrixChild;

    wVector forceOnJoint;

    void createPrivateJoint();
    virtual void updateJoint( real timestep );

private:
    PhyDOF* firstDof;
    PhyDOF* secondDof;

};

} // end namespace farsa

#endif