Joint3D.hh

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#ifdef OPEN_GL
 
#ifndef _JOINT_3D_HH_
#define _JOINT_3D_HH_
 
#include "AbstractPoint3D.hh"
#include "MbsLight.hh"
#include "MbsViewPoint.hh"
 
namespace OpenGLMbs{
 
enum {JOINT_T1, JOINT_T2, JOINT_T3, JOINT_R1, JOINT_R2, JOINT_R3, NO_JOINT};
 
// forward declaration
class Body3D;
 
class Joint3D: public AbstractPoint3D
{
    public:
        Joint3D(MbsWorld3D *world_3d, const char* name, int joint_type, float joint_value = 0.0f);
        virtual ~Joint3D();
 
        void UpdateRelMat(float joint_value);
 
        Body3D* AddBody(const char* name);
 
        void AddLight(MbsLight *new_light) { light_list.push_back(new_light); }
 
        void AddViewPoint(MbsViewPoint *new_view) { view_list.push_back(new_view); }
 
        void UpdateLights();
        void UpdateViewPoints();
 
        virtual void UpdateAbsMatTree();
 
        virtual void PrintTree(int level);
 
    protected:
        int joint_type;    
        float joint_value; 
 
        Body3D *body_3d_child; 
 
        std::vector<MbsLight*> light_list;    
        std::vector<MbsViewPoint*> view_list; 
};
 
}
#endif
#endif