CylindricalJoint.h

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/*
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,
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material unless having a written signed agreement with Algoryx Simulation AB, or having been
advised so by Algoryx Simulation AB for a time limited evaluation, or having purchased a
valid commercial license from 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.
*/
#pragma once
 
#include <agx/Constraint.h>
 
namespace agxUtil
{
  class Spline;
}
 
namespace agx
{
  class CALLABLE AGXPHYSICS_EXPORT CylindricalJointFrame : public ConstraintFrame
  {
    public:
      CylindricalJointFrame() {}
 
      // Constructor providing a point and an axis
      CylindricalJointFrame( const Vec3& point, const Vec3& axis );
 
      void setAxis( const Vec3& axis );
 
      void setPoint( const Vec3& point );
 
      void set(const Vec3 & point, const Vec3& axis );
 
      const Vec3& getAxis() const;
  };
 
  AGX_DECLARE_POINTER_TYPES(CylindricalJoint);
 
  class CALLABLE AGXPHYSICS_EXPORT CylindricalJoint : public Constraint2DOF
  {
    public:
      CylindricalJoint( const CylindricalJointFrame& cf, RigidBody* rb1, RigidBody* rb2 = 0 );
 
      CylindricalJoint( RigidBody* rb1, Frame* rb1AttachmentFrame, RigidBody* rb2 = nullptr, Frame* rb2AttachmentFrame = nullptr );
 
      enum DOF
      {
        ALL_DOF=-1,        
        ROTATIONAL_1=0,    
        ROTATIONAL_2=1,    
        TRANSLATIONAL_1=2, 
        TRANSLATIONAL_2=3, 
        NUM_DOF=4          
      };
 
      virtual int getNumDOF() const override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agx::CylindricalJoint);
 
    protected:
      CylindricalJoint();
      virtual ~CylindricalJoint();
 
      virtual void render( agxRender::RenderManager *mgr, float scale  ) const override;
 
    private:
      class CylindricalJointImplementation* m_implementation;
  };
 
} // namespace agx