SecondaryJoint.h

/*
Copyright 2007-2025. Algoryx Simulation AB.
 
All AGX source code, intellectual property, documentation, sample code,
tutorials, scene files and technical white papers, are copyrighted, proprietary
and confidential material of Algoryx Simulation AB. You may not download, read,
store, distribute, publish, copy or otherwise disseminate, use or expose this
material without having a written signed agreement with Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
 
#ifndef MOMENTUM_SecondaryJoint_H
#define MOMENTUM_SecondaryJoint_H
 
#include "momentum_export.h"
#include "momentum_namespace.h"
 
#include <string>
 
#ifndef SWIG
namespace agx
{
  class BasicControllerConstraint;
}
#endif
 
namespace MOMENTUM_NAMESPACE
{
  class MOMENTUM_EXPORT SecondaryJoint
  {
  public:
#ifndef SWIG
 
    SecondaryJoint(agx::BasicControllerConstraint* constraint);
 
    SecondaryJoint();
#endif
 
    bool getEnabled() const;
 
#ifndef AGX_MOMENTUM_ANALYSIS_API
    void setEnabled(bool enabled);
#endif
 
    double getElasticity() const;
 
#ifndef AGX_MOMENTUM_ANALYSIS_API
    void setElasticity(double elasticity);
#endif
 
    double getDamping() const;
 
#ifndef AGX_MOMENTUM_ANALYSIS_API
    void setDamping(double damping);
#endif
 
    virtual std::string __str__() const;
 
    bool operator==(const SecondaryJoint& other) const;
  protected:
    std::pair<double, double> getForceRange() const;
    bool setForceRange(std::pair<double, double> range);
 
    static bool checkRange(std::pair<double, double> range);
 
    static bool checkRange(double lower, double upper);
 
#ifndef SWIG
    agx::BasicControllerConstraint* m_constraint;
#endif
  };
} // namespace momentum
 
 
#endif