using Mujoco;

namespace Fluctio.FluctioSim.Core.MujocoExtensions.MujocoDataProxy
{
	public class HingeJointData : JointData<MjHingeJoint>
	{
		
		public HingeJointData(MjHingeJoint component) : base(component) { }

		protected override int PosSize => 1;
		protected override int DofSize => 1;

		public float Angle
		{
			get
			{
				MujocoComponentsExtensions.CheckMjScene();
				return (float)PosData[0];
			}
			set
			{
				MujocoComponentsExtensions.CheckMjScene();
				PosData[0] = value;
			}
		}

		public float AngularVelocity
		{
			get
			{
				MujocoComponentsExtensions.CheckMjScene();
				return (float)VelData[0];
			}
			set
			{
				MujocoComponentsExtensions.CheckMjScene();
				VelData[0] = value;
			}
		}

		public float AngularAcceleration
		{
			get
			{
				MujocoComponentsExtensions.CheckMjScene();
				return (float)AccData[0];
			}
			set
			{
				MujocoComponentsExtensions.CheckMjScene();
				AccData[0] = value;
			}
		}
	}
}