/*************************************************************************
 *                                                                       *
 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
 * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file LICENSE.TXT.                                               *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file LICENSE-BSD.TXT.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
 *                                                                       *
 *************************************************************************/

#ifndef _ODE_JOINT_HINGE2_H_
#define _ODE_JOINT_HINGE2_H_

#include "joint.h"


// hinge 2

struct dxJointHinge2 : public dxJoint
{
    dVector3 anchor1;   // anchor w.r.t first body
    dVector3 anchor2;   // anchor w.r.t second body
    dVector3 axis1;     // axis 1 w.r.t first body
    dVector3 axis2;     // axis 2 w.r.t second body
    dReal c0, s0;       // cos,sin of desired angle between axis 1,2
    dVector3 v1, v2;    // angle ref vectors embedded in first body
    dVector3 w1, w2;    // angle ref vectors embedded in second body
    dxJointLimitMotor limot1; // limit+motor info for axis 1
    dxJointLimitMotor limot2; // limit+motor info for axis 2
    dReal susp_erp, susp_cfm; // suspension parameters (erp,cfm)


    dReal measureAngle1() const;
    dReal measureAngle2() const;
    void makeV1andV2();
    void makeW1andW2();

    void getAxisInfo(dVector3 ax1, dVector3 ax2, dVector3 axis,
        dReal &sin_angle, dReal &cos_Angle) const;



    dxJointHinge2( dxWorld *w );

    virtual void getSureMaxInfo( SureMaxInfo* info );
    virtual void getInfo1( Info1* info );
    virtual void getInfo2( dReal worldFPS, dReal worldERP, 
        int rowskip, dReal *J1, dReal *J2,
        int pairskip, dReal *pairRhsCfm, dReal *pairLoHi, 
        int *findex );
    virtual dJointType type() const;
    virtual sizeint size() const;

    virtual void setRelativeValues();
};



#endif