Joint.h

//  trax track library
//  AD 2015
//
//  "the resolution of all the fruitless searches"
//
//                              Peter Gabriel
//
//
// Copyright (c) 2025 Trend Redaktions- und Verlagsgesellschaft mbH
// Copyright (c) 2019 Marc-Michael Horstmann
//
// Permission is hereby granted to any person obtaining a copy of this software 
// and associated source code (the "Software"), to use, view, and study the 
// Software for personal or internal business purposes, subject to the following 
// conditions:
//
// 1. Redistribution, modification, sublicensing, or commercial use of the 
// Software is NOT permitted without prior written consent from the copyright 
// holder.
//
// 2. The Software is provided "AS IS", without warranty of any kind, express 
// or implied.
//
// 3. All copies of the Software must retain this license notice.
//
// For further information, please contact: horstmann.marc@trendverlag.de
 
#pragma once

 
#include "trax/Identified.h"
#include "trax/Units.h"
 
#include "spat/Frame.h"
 
#include <memory>
 
namespace trax{
 
    struct Body;
 
    struct Joint
    {
        virtual void SetName( const char* name ) noexcept = 0;
 

        virtual const char* GetName() const noexcept = 0;
 

        virtual Body* BodyA() const noexcept = 0;
 

        virtual void BodyA( Body* pBody ) = 0;
 

        virtual spat::Frame<Length,One> LocalPoseA() const noexcept = 0;
 

    //  virtual void LocalPoseA( const spat::Frame<Length,One>& pose ) const noexcept = 0;
 

        virtual Body* BodyB() const noexcept = 0;
 

        virtual void BodyB( Body* pBody ) = 0;
 

        virtual spat::Frame<Length,One> LocalPoseB() const noexcept = 0;
 

    //  virtual void LocalPoseB( const spat::Frame<Length,One>& pose ) const noexcept = 0;
 
        virtual ~Joint() = default;
    };
 
 
    struct HingeJoint : Joint
    {
        virtual spat::VectorBundle<Length,One> LocalAxisA() const noexcept = 0;

        virtual spat::VectorBundle<Length,One> LocalAxisB() const noexcept = 0;

        virtual Angle GetTurnAngle() const noexcept = 0;

        virtual Angle GetBendAngle() const noexcept = 0;

        virtual Angle GetPitchAngle() const noexcept = 0;
    };
 
 
    struct SliderJoint : Joint
    {
        virtual Length GetPosition() const noexcept = 0;
 
 
        virtual void SetPosition( Length position ) const noexcept = 0;
    };
 
 
    struct BallAndSocketJoint : Joint
    {
 
 
    };
 
 
    struct DistanceJoint : Joint
    {
        virtual Length GetDistance() const noexcept = 0;
 
        virtual void SetDistance( Length distance ) const noexcept = 0;
 
        virtual spat::Vector<Force> GetForce() const noexcept = 0;
    };
}