SO3BallAndSocketContraint.h

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Copyright (c) 2012 I-maginer
 
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#ifndef __SO3BALLANDSOCKETCONTRAINT_H__
#define __SO3BALLANDSOCKETCONTRAINT_H__
 
#include "SCOLBasic/SO3Prerequisites.h"
#include "SO3PhysicGraph/SO3PhysicContraint.h"
#include "SO3Body.h"
 
namespace SO3
{
 
class SBallAndSocketContraint : public SPhysicContraint
{
public:
protected:
private:
  Ogre::Vector3 mPosition;
  Ogre::Radian mConeAngle;
  Ogre::Radian mMinTwist;
  Ogre::Radian mMaxTwist;
 
  bool mControlled;
  bool mUseLimits;
 
public:
  SBallAndSocketContraint(SScene* scene, SBody* son, SBody* parent = 0, Ogre::Vector3 position = Ogre::Vector3::ZERO, bool useLimits = false);
        
  ~SBallAndSocketContraint();
 
  virtual void SetParentBody(SBody* body);
 
  virtual void SetSonBody(SBody* body);
 
  void SetLimits(Ogre::Radian maxCone, Ogre::Radian minTwist, Ogre::Radian maxTwist);
 
  void UseLimits(bool state);
 
  void SetControlledState(bool state);
 
        void SetAngularVelocity(Ogre::Real omegaMag);
        Ogre::Real GetAngularVelocity() const;
 
        void SetPitchAngle(Ogre::Real angle);
        Ogre::Real GetPitchAngle() const;
 
        void SetYawAngle(Ogre::Real angle);
        Ogre::Real GetYawAngle() const;
 
        void SetRollAngle(Ogre::Real angle);
        Ogre::Real GetRollAngle() const;
 
  Ogre::Vector3 GetAngle();
 
  Ogre::Vector3 GetOmega();
 
  Ogre::Vector3 GetForce();
 
protected:
private:
  SBallAndSocketContraint();
  void UpdateJoint();
};
 
}
 
#endif