using Mujoco;

namespace Fluctio.FluctioSim.Core.MujocoExtensions.MujocoDataProxy
{
	public abstract class JointData<T> : ComponentData<T> where T: MjBaseJoint
	{
		
		protected JointData(T component) : base(component) {}

		protected override unsafe double* PosPointer => MujocoComponentsExtensions.Data->qpos;
		protected override unsafe double* VelPointer => MujocoComponentsExtensions.Data->qvel;
		protected override unsafe double* AccPointer => MujocoComponentsExtensions.Data->qacc;

		protected override int PosOffset => Component.QposAddress;
		protected override int DofOffset => Component.DofAddress;
		
	}
}