ODEBallJoint.hh

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: An ODE ball joint
 * Author: Nate Keonig
 * Date: 13 Oct 2009
 * SVN: $Id: BallJoint.hh 7039 2008-09-24 18:06:29Z natepak $
 */

#ifndef ODEBALLJOINT_HH
#define ODEBALLJOINT_HH

#include "physics/BallJoint.hh"
#include "physics/ode/ODEJoint.hh"

namespace gazebo
{
    namespace physics
  {
    

    class ODEBallJoint : public BallJoint<ODEJoint>
    {
      public: ODEBallJoint( dWorldID worldId );
    
      public: virtual ~ODEBallJoint();
    
      public: virtual math::Vector3 GetAnchor(int index) const;
    
      public: virtual void SetAnchor( int index, const math::Vector3 &anchor );
  
      public: virtual math::Vector3 GetGlobalAxis(int /*index*/) const {return math::Vector3();}
  
      public: virtual void SetDamping(int index, const double damping);
  
      public: virtual void SetVelocity(int /*index*/, double /*angle*/) {}
  
      public: virtual double GetVelocity(int /*index*/) const {return 0;}
  
      public: virtual double GetMaxForce(int /*index*/) {return 0;}
  
      public: virtual void SetMaxForce(int /*index*/, double /*t*/) {}
  
      public: virtual math::Angle GetAngleImpl(int /*index*/) const {return math::Angle(0);}
   
    };
    
  }
}
#endif