/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: A ODE hinge joint
 * Author: Nate Koenig
 * Date: 21 May 2003
 */

#ifndef _ODEHINGEJOINT_HH_
#define _ODEHINGEJOINT_HH_

#include "gazebo/math/Angle.hh"
#include "gazebo/math/Vector3.hh"

#include "gazebo/physics/HingeJoint.hh"
#include "gazebo/physics/ode/ODEJoint.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {
    /// \addtogroup gazebo_physics_ode
    /// \{

    /// \brief A single axis hinge joint.
    class GZ_PHYSICS_VISIBLE ODEHingeJoint : public HingeJoint<ODEJoint>
    {
      /// \brief Constructor
      /// \param[in] _worldID ODE id of the world.
      /// \param[in] _parent Parent of the Joint
      public: ODEHingeJoint(dWorldID _worldId, BasePtr _parent);

      /// \brief Destructor.
      public: virtual ~ODEHingeJoint();

      // Documentation inherited
      public: virtual void Load(sdf::ElementPtr _sdf);

      // Documentation inherited
      public: virtual math::Vector3 GetAnchor(unsigned int _index) const;

      // Documentation inherited
      public: virtual void SetAnchor(unsigned int _index,
                  const math::Vector3 &_anchor);

      // Documentation inherited
      public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;

      // Documentation inherited
      public: virtual void SetAxis(unsigned int _index,
                  const math::Vector3 &_axis);

      // Documentation inherited
      public: virtual math::Angle GetAngleImpl(unsigned int _index) const;

      // Documentation inherited
      public: virtual void SetVelocity(unsigned int _index, double _angle);

      // Documentation inherited
      public: virtual double GetVelocity(unsigned int _index) const;

      // Documentation inherited
      public: virtual double GetParam(unsigned int _parameter) const;

      // Documentation inherited
      public: virtual void SetParam(unsigned int _parameter, double _value);

      // Documentation inherited
      protected: virtual void SetForceImpl(unsigned int _index, double _effort);

      // Make ODEJoint a friend class so we can fix issue 2430 without breaking
      // ABI
      friend class gazebo::physics::ODEJoint;

      /// \brief Method for setting the cumulative_angle value of the underlying
      /// dxJointHinge object of this ODEHingeJoint.
      /// \param[in] _angle The cumulative angle value.
      private: void SetCumulativeAngle(double _angle);
    };
    /// \}
  }
}
#endif