SpringJoint.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_SPRINGJOINT_H
#define MOMENTUM_SPRINGJOINT_H
 
#include "momentum_export.h"
#include "momentum_namespace.h"
 
#include "Joint.h"
 
#include "LinearMotor.h"
#include "LinearSpring.h"
#include "LinearRange.h"
 
#ifndef SWIG
namespace agx
{
  class DistanceJoint;
}
#endif
 
namespace MOMENTUM_NAMESPACE
{
  class MOMENTUM_EXPORT SpringJoint : public Joint
  {
  public:
#ifndef SWIG
 
    SpringJoint(agx::DistanceJoint* distanceJoint);
 
    SpringJoint();
#endif
 
    std::shared_ptr<LinearMotor> getMotor() const;
 
    std::shared_ptr<LinearSpring> getSpring() const;
 
    std::shared_ptr<LinearRange> getRange() const;
 
    double getSpringElasticity() const;
 
#ifndef AGX_MOMENTUM_ANALYSIS_API
    void setSpringElasticity(double elasticity);
#endif
 
    double getSpringDamping() const;
 
#ifndef AGX_MOMENTUM_ANALYSIS_API
    void setSpringDamping(double damping);
#endif
 
    double getCurrentLength() const;
 
    virtual ~SpringJoint();
    virtual std::string __str__() const;
 
  protected:
    virtual int getAgxTranslationalDOF(Joint::DegreeOfFreedom dof) const;
    virtual int getAgxRotationalDOF(Joint::DegreeOfFreedom dof) const;
  private:
#ifndef SWIG
    agx::DistanceJoint* getDistanceJoint() const;
#endif
  };
 
  V1_DECLARE_CONTAINER_TYPE(SpringJoint);
 
} // namespace momentum
 
 
#endif