/*
 * Copyright (C) 2024 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef GZ_PHYSICS_BULLET_FEATHERSTONE_SRC_KINEMATICLINKFEATURES_HH_
#define GZ_PHYSICS_BULLET_FEATHERSTONE_SRC_KINEMATICLINKFEATURES_HH_

#include <gz/physics/KinematicLink.hh>

#include "Base.hh"

namespace gz {
namespace physics {
namespace bullet_featherstone {

#if BT_BULLET_VERSION >= 307
struct KinematicLinkFeatureList : FeatureList<
  KinematicLink
> { };

class KinematicLinkFeatures :
    public virtual Base,
    public virtual Implements3d<KinematicLinkFeatureList>
{
  // ----- Set / Get Kinematic -----
  public: void SetLinkKinematic(
      const Identity &_id,
      bool _kinematic) override;

  public: bool GetLinkKinematic(
      const Identity &_id) const override;
};
#endif

}  // namespace bullet_featherstone
}  // namespace physics
}  // namespace gz

#endif
