osaODEJoint.h

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/*

  Author(s): Simon Leonard
  Created on: November 11 2009

  (C) Copyright 2008 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/

#ifndef _osaODEJoint_h
#define _osaODEJoint_h

#include <ode/ode.h>
#include <string>

#include <cisstVector/vctFixedSizeVector.h>
#include <sawOpenDynamicsEngine/sawOpenDynamicsEngineExport.h>

class CISST_EXPORT osaODEJoint {

 private:
  
  dJointID      jointid;       // joint id
  dJointID      frictionid;    // motor id for friction
  
  double ft;

 public:


  osaODEJoint( dWorldID world, 
           dBodyID body1, 
           dBodyID body2,
           int type,
           const vctFixedSizeVector<double,3>& anchor,
           const vctFixedSizeVector<double,3>& axis,
           double qmin,
           double qmax );
  
  dBodyID GetProximalBody() const;
  dBodyID GetDistalBody()   const;

  dJointID JointID() const;

  dJointID FrictionID() const;

  int GetType() const { return dJointGetType( jointid ); }


  double GetPosition() const;


  double GetVelocity() const;

  double GetForceTorque() const;
  

  void SetForceTorque( double ft );


  void ApplyForceTorque();
};

#endif