text: /*************************************************************************
   *                                                                       *
   * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
   * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
   *                                                                       *
   * This library is free software; you can redistribute it and/or         *
   * modify it under the terms of EITHER:                                  *
   *   (1) The GNU Lesser General Public License as published by the Free  *
   *       Software Foundation; either version 2.1 of the License, or (at  *
   *       your option) any later version. The text of the GNU Lesser      *
   *       General Public License is included with this library in the     *
   *       file LICENSE.TXT.                                               *
   *   (2) The BSD-style license that is included with this library in     *
   *       the file LICENSE-BSD.TXT.                                       *
   *                                                                       *
   * This library is distributed in the hope that it will be useful,       *
   * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
   * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
   * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
   *                                                                       *
   *************************************************************************/
  
  #ifndef _ODE_JOINT_FIXED_H_
  #define _ODE_JOINT_FIXED_H_
  
  #include "joint.h"
  
  
  // fixed
  
  struct dxJointFixed : public dxJoint
  {
      dQuaternion qrel;   // initial relative rotation body1 -> body2
      dVector3 offset;    // relative offset between the bodies
      // erp and cfm moved to joint.h by OSRF
      // dReal erp;          // error reduction parameter
      // dReal cfm;          // constraint force mix-in
      void  set ( int num, dReal value );
      dReal get ( int num );
  
      dxJointFixed ( dxWorld *w );
      virtual void getSureMaxInfo( SureMaxInfo* info );
      virtual void getInfo1 ( Info1* info );
      virtual void getInfo2 ( Info2* info );
      virtual dJointType type() const;
      virtual size_t size() const;
  
      void computeInitialRelativeRotation();
  };
  
  
  #endif
  