63 lines
2.1 KiB
Ada
63 lines
2.1 KiB
Ada
with
|
|
physics.Object,
|
|
lace.Any;
|
|
|
|
package physics.Joint
|
|
--
|
|
-- Provides an interface for physics joints.
|
|
--
|
|
is
|
|
type Item is limited interface
|
|
and lace.Any.limited_item;
|
|
|
|
type View is access all Item'Class;
|
|
|
|
|
|
type Degree_of_freedom is range 1 .. 6;
|
|
|
|
procedure destruct (Self : in out Item) is abstract;
|
|
|
|
function Object_A (Self : in Item) return physics.Object.view is abstract;
|
|
function Object_B (Self : in Item) return physics.Object.view is abstract;
|
|
|
|
|
|
function Frame_A (Self : in Item) return Matrix_4x4 is abstract;
|
|
function Frame_B (Self : in Item) return Matrix_4x4 is abstract;
|
|
|
|
procedure Frame_A_is (Self : in out Item; Now : in Matrix_4x4) is abstract;
|
|
procedure Frame_B_is (Self : in out Item; Now : in Matrix_4x4) is abstract;
|
|
|
|
|
|
function is_Limited (Self : in Item; DoF : Degree_of_freedom) return Boolean is abstract;
|
|
|
|
|
|
procedure Velocity_is (Self : in out Item; Now : in Real;
|
|
DoF : in Degree_of_freedom) is abstract;
|
|
--
|
|
-- Sets the spatial or angular velocity for the specified DoF.
|
|
|
|
|
|
function Extent (Self : in Item; DoF : Degree_of_freedom) return Real is abstract;
|
|
--
|
|
-- Returns the current distance or angle (for a spatial or angular DoF, respectively).
|
|
|
|
|
|
procedure desired_Extent_is (Self : in out Item; Now : in Real;
|
|
DoF : in Degree_of_freedom) is abstract;
|
|
--
|
|
-- Sets the desired spacial or angular extent for a given degree of freedom (DoF).
|
|
|
|
|
|
function reaction_Force (Self : in Item) return Vector_3 is abstract;
|
|
function reaction_Torque (Self : in Item) return Real is abstract;
|
|
|
|
|
|
procedure user_Data_is (Self : in out Item; Now : access lace.Any.limited_item'Class) is abstract;
|
|
function user_Data (Self : in Item) return access lace.Any.limited_item'Class is abstract;
|
|
|
|
|
|
function collide_Connected (Self : in Item) return Boolean is abstract;
|
|
|
|
|
|
end physics.Joint;
|