include/IPSA/SoJointUniversal.h

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#ifndef IPSA_SOJOINTUNIVERSAL_H
#define IPSA_SOJOINTUNIVERSAL_H
/*
 * Copyright (c) 2004, University of Braunschweig (for members see AUTHORS file)
 * Copyright (c) 2007, 2008, 2009, University of Karlsruhe (for members see AUTHORS file)
 * Copyright (c) 2011, Karlsruhe Institute of Technology (for members see AUTHORS file)
 *
 * ISC License
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 */

#include "IPSA.h"
#include "SoJoint.h"

#include <Inventor/fields/SoSFVec3f.h>
#include <Inventor/fields/SoSFVec2f.h>
#include <Inventor/fields/SoMFFloat.h>

class IPSA_IMPORT_EXPORT SoJointUniversal : public SoJoint
{
SO_KIT_HEADER(SoJointUniversal);

public:
                // Constructor
                SoJointUniversal(const SbString& BodyOne = "", const SbString& BodyTwo = "", const SbString& nodeName = "");

                static void initClass();
                virtual void setParams();

                virtual void setTorque(dReal torque1 = 0.0f, dReal torque2 = 0.0f, dReal torque3 = 0.0f);

                SoSFVec3f soAnchor;
                SoSFVec3f soAxis1;
                SoSFVec3f soAxis2;
                SoSFVec2f soTorque;

                SoSFFloat LoStop;
                SoSFFloat HiStop;
                SoSFFloat Velocity;
                SoSFFloat MaxForce;
                SoSFFloat FudgeFactor;
                SoSFFloat Bounce;
                SoSFFloat CFM;
                SoSFFloat StopERP;
                SoSFFloat StopCFM;

                SoSFFloat LoStop2;
                SoSFFloat HiStop2;
                SoSFFloat Velocity2;
                SoSFFloat MaxForce2;
                SoSFFloat FudgeFactor2;
                SoSFFloat Bounce2;
                SoSFFloat CFM2;
                SoSFFloat StopERP2;
                SoSFFloat StopCFM2;

protected:
                virtual void createOdeJoint(const dWorldID soWorldId);
                virtual void updateOdeJointProperties(const SbMatrix& modelMatrix);
                virtual SoNode* createVisualisation();

    float initVelocity[2];
    float initMaxForce[2];
};

#endif 

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