SixDOFConstraint.h

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/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2014 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLPhysics/src/ICLPhysics/SixDOFConstraint.h           **
** Module : ICLPhysics                                             **
** Author : Christof Elbrechter, Matthias Esau                     **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
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** Free Software Foundation and appearing in the file LICENSE.LGPL **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/
#pragma once

#include <ICLPhysics/Constraint.h>
#include <ICLGeom/GeomDefs.h>

namespace icl {
  namespace physics{
    class RigidObject;

    class ICLPhysics_API SixDOFConstraint: public Constraint{
      void init(RigidObject* a, RigidObject* b, const geom::Mat &frameInA, const geom::Mat &frameInB, const bool useLinearReferenceFrameA);
      public:
      SixDOFConstraint(RigidObject* a, RigidObject* b, const geom::Mat &frameInA, const geom::Mat &frameInB, const bool useLinearReferenceFrameA = true);
      SixDOFConstraint(RigidObject* a, RigidObject* b, const geom::Vec &pivotInA, const geom::Vec &pivotInB,bool useLinearReferenceFrameA = true);
      SixDOFConstraint(RigidObject* a, RigidObject* b, const bool useLinearReferenceFrameA = true);
      void setFrames(const geom::Mat &frameA, const geom::Mat &frameB);
      void setPivot(const geom::Vec &pivotInA, const geom::Vec &pivotInB);

      /* Set lower linear limits of the constraint pivot.
       * Setting the lower limit to higher than the upper limit unlocks the axis.
       */
      void setLinearLowerLimit(const geom::Vec &lower);

      /* Set upper linear limits of the constraint pivot.
       * Setting the lower limit to higher than the upper limit unlocks the axis.
       */
      void setLinearUpperLimit(const geom::Vec &upper);

      geom::Vec getLinearLowerLimit();

      geom::Vec getLinearUpperLimit();

                        float getAngle(int index);

      /* Set lower angular limits of the constraint pivot.
       * Setting the lower limit to higher than the upper limit unlocks the axis.
       */
      void setAngularLowerLimit(const geom::Vec &lower);

      /* Set upper linear limits of the constraint pivot.
       * Setting the lower limit to higher than the upper limit unlocks the axis.
       */
      void setAngularUpperLimit(const geom::Vec &upper);

      geom::Vec getAngularLowerLimit();

      geom::Vec getAngularUpperLimit();

                        void setLinearMotor(int index, bool enableMotor, float targetVelocity, float maxMotorForce, bool force_activation = false);

                        void setAngularMotor(int index, bool enableMotor, float targetVelocity, float maxMotorForce, bool force_activation = false);
    };
  }
}