Prismatic.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,
store, distribute, publish, copy or otherwise disseminate, use or expose this
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 agx
{
  class CALLABLE AGXPHYSICS_EXPORT PrismaticFrame : public ConstraintFrame
  {
    public:
      PrismaticFrame();
 
      ~PrismaticFrame();
 
      PrismaticFrame( 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(Prismatic);
  class CALLABLE AGXPHYSICS_EXPORT Prismatic : public Constraint1DOF
  {
    public:
      Prismatic( const PrismaticFrame& pf, RigidBody* rb1, RigidBody* rb2 = 0 );
 
      Prismatic( RigidBody* rb1, Frame* rb1AttachmentFrame, RigidBody* rb2 = nullptr, Frame* rb2AttachmentFrame = nullptr );
 
      Prismatic( const Vec3& axis, RigidBody* rb1, RigidBody* rb2 = nullptr );
 
      enum DOF {
        ALL_DOF = -1,      
        ROTATIONAL_1 = 0,  
        ROTATIONAL_2 = 1,  
        ROTATIONAL_3 = 2,  
        TRANSLATIONAL_1 = 3, 
        TRANSLATIONAL_2 = 4, 
        NUM_DOF = 5        
      };
 
      virtual int getNumDOF() const override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE( agx::Prismatic );
 
    protected:
      Prismatic();
      virtual ~Prismatic();
 
      virtual void render(agxRender::RenderManager* mgr, float scale ) const override;
 
    private:
      class PrismaticImplementation* m_implementation;
  };
 
 
} // namespace agx