joint.h

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#ifndef VART_JOINT_H
#define VART_JOINT_H

#ifdef VISUAL_JOINTS
#include "vart/material.h"
#endif

#include "vart/transform.h"
#include <list>
#include <iostream> // for XmlPrintOn

namespace VART {
    class Dof;
    class Joint : public Transform {
        public:
            enum DofID { FLEXION, ADDUCTION, TWIST };
            Joint();
            Joint(const Joint& j);
            virtual ~Joint();

            virtual VART::SceneNode * Copy();

            virtual void CopyDofListFrom( VART::Joint& joint );

            const Joint& operator=(const Joint& j);
            unsigned short int GetNumDofs() const { return dofList.size(); }

            virtual Dof* AddDof(const Point4D& vec, const Point4D& pos, float min, float max);

            virtual void AddDof(Dof *dof);

            void MakeLim();

            const Dof& GetDof(DofID dof) const;

            void GetDofs(std::list<Dof*>* dofListPtr);

            DofID GetDofID(const Dof* dofPtr) const;

            void SetAtRest();

            bool MoveDof(DofID dof, float variance);

            bool HasDof(DofID dof);

            virtual TypeID GetID() { return JOINT; }

            virtual void XmlPrintOn(std::ostream& os, unsigned int indent) const;

    #ifdef VISUAL_JOINTS
            virtual bool DrawOGL() const;
    #endif

        protected:
        // PROTECTED METHODS
    #ifdef VISUAL_JOINTS
            static const Material& GetMaterial(int num);
    #endif
        // PROTECTED ATTRIBUTES
            std::list<Dof*> dofList;
    }; // end class declaration
    std::ostream& operator<<(std::ostream& output, const Joint::DofID& dofId);
    std::istream& operator>>(std::istream& input,  Joint::DofID& dofId);
} // end namespace
#endif