phyuniversal.h
1 /********************************************************************************
2  * WorldSim -- library for robot simulations *
3  * Copyright (C) 2008-2011 Gianluca Massera <emmegian@yahoo.it> *
4  * *
5  * This program is free software; you can redistribute it and/or modify *
6  * it under the terms of the GNU General Public License as published by *
7  * the Free Software Foundation; either version 2 of the License, or *
8  * (at your option) any later version. *
9  * *
10  * This program is distributed in the hope that it will be useful, *
11  * but WITHOUT ANY WARRANTY; without even the implied warranty of *
12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
13  * GNU General Public License for more details. *
14  * *
15  * You should have received a copy of the GNU General Public License *
16  * along with this program; if not, write to the Free Software *
17  * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA *
18  ********************************************************************************/
19 
20 #ifndef PHYUNIVERSAL_H
21 #define PHYUNIVERSAL_H
22 
23 #include "worldsimconfig.h"
24 #include "world.h"
25 #include "phyobject.h"
26 #include "wvector.h"
27 #include "wmatrix.h"
28 #include "wquaternion.h"
29 #include "phyjoint.h"
30 
31 namespace farsa {
32 
43 class FARSA_WSIM_API PhyUniversal : public PhyJoint {
44 public:
55  PhyUniversal( const wVector& firstAxis, const wVector& secondAxis, const wVector& centre, PhyObject* parent, PhyObject* child, bool cp=true );
56 
58  virtual void updateJointInfo();
59 
61  virtual wVector centre();
62 
65  virtual wVector getForceOnJoint() const;
66 
67 protected:
76 
92 
96 
98  void createPrivateJoint();
99  virtual void updateJoint( real timestep );
100 
101 private:
102  PhyDOF* firstDof;
103  PhyDOF* secondDof;
104 
105 };
106 
107 } // end namespace farsa
108 
109 #endif