/*************************************************************************/
/*  cone_twist_joint_bullet.h                                            */
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#ifndef CONE_TWIST_JOINT_BULLET_H
#define CONE_TWIST_JOINT_BULLET_H

#include "joint_bullet.h"

/**
	@author AndreaCatania
*/

class RigidBodyBullet;

class ConeTwistJointBullet : public JointBullet {
	class btConeTwistConstraint *coneConstraint;

public:
	ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &rbAFrame, const Transform &rbBFrame);

	virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_CONE_TWIST; }

	void set_angular_only(bool angularOnly);

	void set_limit(real_t _swingSpan1, real_t _swingSpan2, real_t _twistSpan, real_t _softness = 0.8f, real_t _biasFactor = 0.3f, real_t _relaxationFactor = 1.0f);
	int get_solve_twist_limit();

	int get_solve_swing_limit();
	real_t get_twist_limit_sign();

	void set_param(PhysicsServer::ConeTwistJointParam p_param, real_t p_value);
	real_t get_param(PhysicsServer::ConeTwistJointParam p_param) const;
};
#endif
