E:/Programming/MyProject/K_Game_hg/GameEngine/include/physics/Joint.h

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// Copyright 2006-2011 by Kat'Oun

#ifndef _JOINT_H_
#define _JOINT_H_

#include <EngineConfig.h>
#include <core/Types.h>
#include <core/Vector3d.h>
#include <core/Quaternion.h>
#include <physics/JointDefines.h>
#include <engine/Object.h>

namespace physics
{

class Body;

class ENGINE_PUBLIC_EXPORT Joint: public engine::Object
{
public:

        Joint();
        Joint(const std::string& name);

        virtual ~Joint();

        const JointType& getJointType() const;

        void setActors(Body* body1, Body* body2);

        virtual void setAnchor(const core::vector3d& anchor);

        virtual void setAxis(const core::vector3d& axis);

protected:

        // Incremented count for next index
        static u32 msNextGeneratedJointIndex;

        void initProperties();

        JointType mJointType;

        Body* mActor1;
        Body* mActor2;

        core::vector3d mAnchor;
        core::vector3d mAxis;
};

//Spherical Joint
class ENGINE_PUBLIC_EXPORT SphericalJoint: public Joint
{
public:

        SphericalJoint();
        SphericalJoint(const std::string& name);

        virtual ~SphericalJoint();

        virtual void setLimits(f32 coneLimit, f32 twistLimit);

protected:

        void initProperties();

        f32 mConeLimit; // The maximum limit of rotational movement (radians)
        f32 mTwistLimit; // The maximum limit of twisting movement (radians)
};

//Hinge Joint
class ENGINE_PUBLIC_EXPORT HingeJoint: public Joint
{
public:

        HingeJoint();
        HingeJoint(const std::string& name);

        virtual ~HingeJoint();

        virtual void setLimits(f32 lowerLimit, f32 upperLimit);

protected:

        void initProperties();

        f32 mLowerLimit;
        f32 mUpperLimit;
};

//Slider Joint
class ENGINE_PUBLIC_EXPORT SliderJoint: public Joint
{
public:

        SliderJoint();
        SliderJoint(const std::string& name);

        virtual ~SliderJoint();

protected:

        void initProperties();
};

//Generic Joint
class ENGINE_PUBLIC_EXPORT GenericJoint: public Joint
{
public:

        GenericJoint();
        GenericJoint(const std::string& name);

        virtual ~GenericJoint();

protected:

        void initProperties();
};

//Rigid Joint
class ENGINE_PUBLIC_EXPORT RigidJoint: public Joint
{
public:

        RigidJoint();
        RigidJoint(const std::string& name);

        virtual ~RigidJoint();

protected:

        void initProperties();
};

} // end namespace physics

#endif