add bullet

libs/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h

@@ -0,0 +1,332 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+btConeTwistConstraint is Copyright (c) 2007 Starbreeze Studios
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+Written by: Marcus Hennix
+*/
+
+
+
+/*
+Overview:
+
+btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc).
+It is a fixed translation, 3 degree-of-freedom (DOF) rotational "joint".
+It divides the 3 rotational DOFs into swing (movement within a cone) and twist.
+Swing is divided into swing1 and swing2 which can have different limits, giving an elliptical shape.
+(Note: the cone's base isn't flat, so this ellipse is "embedded" on the surface of a sphere.)
+
+In the contraint's frame of reference:
+twist is along the x-axis,
+and swing 1 and 2 are along the z and y axes respectively.
+*/
+
+
+
+#ifndef CONETWISTCONSTRAINT_H
+#define CONETWISTCONSTRAINT_H
+
+#include "LinearMath/btVector3.h"
+#include "btJacobianEntry.h"
+#include "btTypedConstraint.h"
+
+class btRigidBody;
+
+enum btConeTwistFlags
+{
+	BT_CONETWIST_FLAGS_LIN_CFM = 1,
+	BT_CONETWIST_FLAGS_LIN_ERP = 2,
+	BT_CONETWIST_FLAGS_ANG_CFM = 4
+};
+
+///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
+class btConeTwistConstraint : public btTypedConstraint
+{
+#ifdef IN_PARALLELL_SOLVER
+public:
+#endif
+	btJacobianEntry	m_jac[3]; //3 orthogonal linear constraints
+
+	btTransform m_rbAFrame; 
+	btTransform m_rbBFrame;
+
+	btScalar	m_limitSoftness;
+	btScalar	m_biasFactor;
+	btScalar	m_relaxationFactor;
+
+	btScalar	m_damping;
+
+	btScalar	m_swingSpan1;
+	btScalar	m_swingSpan2;
+	btScalar	m_twistSpan;
+
+	btScalar	m_fixThresh;
+
+	btVector3   m_swingAxis;
+	btVector3	m_twistAxis;
+
+	btScalar	m_kSwing;
+	btScalar	m_kTwist;
+
+	btScalar	m_twistLimitSign;
+	btScalar	m_swingCorrection;
+	btScalar	m_twistCorrection;
+
+	btScalar	m_twistAngle;
+
+	btScalar	m_accSwingLimitImpulse;
+	btScalar	m_accTwistLimitImpulse;
+
+	bool		m_angularOnly;
+	bool		m_solveTwistLimit;
+	bool		m_solveSwingLimit;
+
+	bool	m_useSolveConstraintObsolete;
+
+	// not yet used...
+	btScalar	m_swingLimitRatio;
+	btScalar	m_twistLimitRatio;
+	btVector3   m_twistAxisA;
+
+	// motor
+	bool		 m_bMotorEnabled;
+	bool		 m_bNormalizedMotorStrength;
+	btQuaternion m_qTarget;
+	btScalar	 m_maxMotorImpulse;
+	btVector3	 m_accMotorImpulse;
+	
+	// parameters
+	int			m_flags;
+	btScalar	m_linCFM;
+	btScalar	m_linERP;
+	btScalar	m_angCFM;
+	
+protected:
+
+	void init();
+
+	void computeConeLimitInfo(const btQuaternion& qCone, // in
+		btScalar& swingAngle, btVector3& vSwingAxis, btScalar& swingLimit); // all outs
+
+	void computeTwistLimitInfo(const btQuaternion& qTwist, // in
+		btScalar& twistAngle, btVector3& vTwistAxis); // all outs
+
+	void adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const;
+
+
+public:
+
+	btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame);
+	
+	btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
+
+	virtual void	buildJacobian();
+
+	virtual void getInfo1 (btConstraintInfo1* info);
+
+	void	getInfo1NonVirtual(btConstraintInfo1* info);
+	
+	virtual void getInfo2 (btConstraintInfo2* info);
+	
+	void	getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);
+
+	virtual	void	solveConstraintObsolete(btRigidBody& bodyA,btRigidBody& bodyB,btScalar	timeStep);
+
+	void	updateRHS(btScalar	timeStep);
+
+	const btRigidBody& getRigidBodyA() const
+	{
+		return m_rbA;
+	}
+	const btRigidBody& getRigidBodyB() const
+	{
+		return m_rbB;
+	}
+
+	void	setAngularOnly(bool angularOnly)
+	{
+		m_angularOnly = angularOnly;
+	}
+
+	void	setLimit(int limitIndex,btScalar limitValue)
+	{
+		switch (limitIndex)
+		{
+		case 3:
+			{
+				m_twistSpan = limitValue;
+				break;
+			}
+		case 4:
+			{
+				m_swingSpan2 = limitValue;
+				break;
+			}
+		case 5:
+			{
+				m_swingSpan1 = limitValue;
+				break;
+			}
+		default:
+			{
+			}
+		};
+	}
+
+	// setLimit(), a few notes:
+	// _softness:
+	//		0->1, recommend ~0.8->1.
+	//		describes % of limits where movement is free.
+	//		beyond this softness %, the limit is gradually enforced until the "hard" (1.0) limit is reached.
+	// _biasFactor:
+	//		0->1?, recommend 0.3 +/-0.3 or so.
+	//		strength with which constraint resists zeroth order (angular, not angular velocity) limit violation.
+	// __relaxationFactor:
+	//		0->1, recommend to stay near 1.
+	//		the lower the value, the less the constraint will fight velocities which violate the angular limits.
+	void	setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan, btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
+	{
+		m_swingSpan1 = _swingSpan1;
+		m_swingSpan2 = _swingSpan2;
+		m_twistSpan  = _twistSpan;
+
+		m_limitSoftness =  _softness;
+		m_biasFactor = _biasFactor;
+		m_relaxationFactor = _relaxationFactor;
+	}
+
+	const btTransform& getAFrame() { return m_rbAFrame; };	
+	const btTransform& getBFrame() { return m_rbBFrame; };
+
+	inline int getSolveTwistLimit()
+	{
+		return m_solveTwistLimit;
+	}
+
+	inline int getSolveSwingLimit()
+	{
+		return m_solveTwistLimit;
+	}
+
+	inline btScalar getTwistLimitSign()
+	{
+		return m_twistLimitSign;
+	}
+
+	void calcAngleInfo();
+	void calcAngleInfo2(const btTransform& transA, const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);
+
+	inline btScalar getSwingSpan1()
+	{
+		return m_swingSpan1;
+	}
+	inline btScalar getSwingSpan2()
+	{
+		return m_swingSpan2;
+	}
+	inline btScalar getTwistSpan()
+	{
+		return m_twistSpan;
+	}
+	inline btScalar getTwistAngle()
+	{
+		return m_twistAngle;
+	}
+	bool isPastSwingLimit() { return m_solveSwingLimit; }
+
+
+	void setDamping(btScalar damping) { m_damping = damping; }
+
+	void enableMotor(bool b) { m_bMotorEnabled = b; }
+	void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = false; }
+	void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = true; }
+
+	btScalar getFixThresh() { return m_fixThresh; }
+	void setFixThresh(btScalar fixThresh) { m_fixThresh = fixThresh; }
+
+	// setMotorTarget:
+	// q: the desired rotation of bodyA wrt bodyB.
+	// note: if q violates the joint limits, the internal target is clamped to avoid conflicting impulses (very bad for stability)
+	// note: don't forget to enableMotor()
+	void setMotorTarget(const btQuaternion &q);
+
+	// same as above, but q is the desired rotation of frameA wrt frameB in constraint space
+	void setMotorTargetInConstraintSpace(const btQuaternion &q);
+
+	btVector3 GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const;
+
+	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+	///If no axis is provided, it uses the default axis for this constraint.
+	virtual	void setParam(int num, btScalar value, int axis = -1);
+	///return the local value of parameter
+	virtual	btScalar getParam(int num, int axis = -1) const;
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btConeTwistConstraintData
+{
+	btTypedConstraintData	m_typeConstraintData;
+	btTransformFloatData m_rbAFrame;
+	btTransformFloatData m_rbBFrame;
+
+	//limits
+	float	m_swingSpan1;
+	float	m_swingSpan2;
+	float	m_twistSpan;
+	float	m_limitSoftness;
+	float	m_biasFactor;
+	float	m_relaxationFactor;
+
+	float	m_damping;
+		
+	char m_pad[4];
+
+};
+	
+
+
+SIMD_FORCE_INLINE int	btConeTwistConstraint::calculateSerializeBufferSize() const
+{
+	return sizeof(btConeTwistConstraintData);
+
+}
+
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char*	btConeTwistConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btConeTwistConstraintData* cone = (btConeTwistConstraintData*) dataBuffer;
+	btTypedConstraint::serialize(&cone->m_typeConstraintData,serializer);
+
+	m_rbAFrame.serializeFloat(cone->m_rbAFrame);
+	m_rbBFrame.serializeFloat(cone->m_rbBFrame);
+	
+	cone->m_swingSpan1 = float(m_swingSpan1);
+	cone->m_swingSpan2 = float(m_swingSpan2);
+	cone->m_twistSpan = float(m_twistSpan);
+	cone->m_limitSoftness = float(m_limitSoftness);
+	cone->m_biasFactor = float(m_biasFactor);
+	cone->m_relaxationFactor = float(m_relaxationFactor);
+	cone->m_damping = float(m_damping);
+
+	return "btConeTwistConstraintData";
+}
+
+
+#endif //CONETWISTCONSTRAINT_H

libs/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h

@@ -0,0 +1,52 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef CONSTRAINT_SOLVER_H
+#define CONSTRAINT_SOLVER_H
+
+#include "LinearMath/btScalar.h"
+
+class btPersistentManifold;
+class btRigidBody;
+class btCollisionObject;
+class btTypedConstraint;
+struct btContactSolverInfo;
+struct btBroadphaseProxy;
+class btIDebugDraw;
+class btStackAlloc;
+class	btDispatcher;
+/// btConstraintSolver provides solver interface
+class btConstraintSolver
+{
+
+public:
+
+	virtual ~btConstraintSolver() {}
+	
+	virtual void prepareSolve (int /* numBodies */, int /* numManifolds */) {;}
+
+	///solve a group of constraints
+	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher) = 0;
+
+	virtual void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */, btStackAlloc* /* stackAlloc */) {;}
+
+	///clear internal cached data and reset random seed
+	virtual	void	reset() = 0;
+};
+
+
+
+
+#endif //CONSTRAINT_SOLVER_H

libs/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp

@@ -0,0 +1,134 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#include "btContactConstraint.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "LinearMath/btVector3.h"
+#include "btJacobianEntry.h"
+#include "btContactSolverInfo.h"
+#include "LinearMath/btMinMax.h"
+#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
+
+
+
+btContactConstraint::btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB)
+:btTypedConstraint(CONTACT_CONSTRAINT_TYPE,rbA,rbB),
+	m_contactManifold(*contactManifold)
+{
+
+}
+
+btContactConstraint::~btContactConstraint()
+{
+
+}
+
+void	btContactConstraint::setContactManifold(btPersistentManifold* contactManifold)
+{
+	m_contactManifold = *contactManifold;
+}
+
+void btContactConstraint::getInfo1 (btConstraintInfo1* info)
+{
+
+}
+
+void btContactConstraint::getInfo2 (btConstraintInfo2* info)
+{
+
+}
+
+void	btContactConstraint::buildJacobian()
+{
+
+}
+
+
+
+
+
+#include "btContactConstraint.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "LinearMath/btVector3.h"
+#include "btJacobianEntry.h"
+#include "btContactSolverInfo.h"
+#include "LinearMath/btMinMax.h"
+#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
+
+#define ASSERT2 btAssert
+
+#define USE_INTERNAL_APPLY_IMPULSE 1
+
+
+//bilateral constraint between two dynamic objects
+void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
+                      btRigidBody& body2, const btVector3& pos2,
+                      btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep)
+{
+	(void)timeStep;
+	(void)distance;
+
+
+	btScalar normalLenSqr = normal.length2();
+	ASSERT2(btFabs(normalLenSqr) < btScalar(1.1));
+	if (normalLenSqr > btScalar(1.1))
+	{
+		impulse = btScalar(0.);
+		return;
+	}
+	btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition(); 
+	btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
+	//this jacobian entry could be re-used for all iterations
+	
+	btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
+	btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
+	btVector3 vel = vel1 - vel2;
+	
+
+	   btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
+		body2.getCenterOfMassTransform().getBasis().transpose(),
+		rel_pos1,rel_pos2,normal,body1.getInvInertiaDiagLocal(),body1.getInvMass(),
+		body2.getInvInertiaDiagLocal(),body2.getInvMass());
+
+	btScalar jacDiagAB = jac.getDiagonal();
+	btScalar jacDiagABInv = btScalar(1.) / jacDiagAB;
+	
+	  btScalar rel_vel = jac.getRelativeVelocity(
+		body1.getLinearVelocity(),
+		body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(),
+		body2.getLinearVelocity(),
+		body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity()); 
+	btScalar a;
+	a=jacDiagABInv;
+
+
+	rel_vel = normal.dot(vel);
+	
+	//todo: move this into proper structure
+	btScalar contactDamping = btScalar(0.2);
+
+#ifdef ONLY_USE_LINEAR_MASS
+	btScalar massTerm = btScalar(1.) / (body1.getInvMass() + body2.getInvMass());
+	impulse = - contactDamping * rel_vel * massTerm;
+#else	
+	btScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
+	impulse = velocityImpulse;
+#endif
+}
+
+
+
+

libs/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h

@@ -0,0 +1,68 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef CONTACT_CONSTRAINT_H
+#define CONTACT_CONSTRAINT_H
+
+#include "LinearMath/btVector3.h"
+#include "btJacobianEntry.h"
+#include "btTypedConstraint.h"
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+
+///btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface
+ATTRIBUTE_ALIGNED16(class) btContactConstraint : public btTypedConstraint
+{
+protected:
+
+	btPersistentManifold m_contactManifold;
+
+public:
+
+
+	btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB);
+
+	void	setContactManifold(btPersistentManifold* contactManifold);
+
+	btPersistentManifold* getContactManifold()
+	{
+		return &m_contactManifold;
+	}
+
+	const btPersistentManifold* getContactManifold() const
+	{
+		return &m_contactManifold;
+	}
+
+	virtual ~btContactConstraint();
+
+	virtual void getInfo1 (btConstraintInfo1* info);
+
+	virtual void getInfo2 (btConstraintInfo2* info);
+
+	///obsolete methods
+	virtual void	buildJacobian();
+
+
+};
+
+
+///resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects
+void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
+                      btRigidBody& body2, const btVector3& pos2,
+                      btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep);
+
+
+
+#endif //CONTACT_CONSTRAINT_H

libs/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h

@@ -0,0 +1,87 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef CONTACT_SOLVER_INFO
+#define CONTACT_SOLVER_INFO
+
+enum	btSolverMode
+{
+	SOLVER_RANDMIZE_ORDER = 1,
+	SOLVER_FRICTION_SEPARATE = 2,
+	SOLVER_USE_WARMSTARTING = 4,
+	SOLVER_USE_FRICTION_WARMSTARTING = 8,
+	SOLVER_USE_2_FRICTION_DIRECTIONS = 16,
+	SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32,
+	SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64,
+	SOLVER_CACHE_FRIENDLY = 128,
+	SOLVER_SIMD = 256,	//enabled for Windows, the solver innerloop is branchless SIMD, 40% faster than FPU/scalar version
+	SOLVER_CUDA = 512	//will be open sourced during Game Developers Conference 2009. Much faster.
+};
+
+struct btContactSolverInfoData
+{
+	
+
+	btScalar	m_tau;
+	btScalar	m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
+	btScalar	m_friction;
+	btScalar	m_timeStep;
+	btScalar	m_restitution;
+	int		m_numIterations;
+	btScalar	m_maxErrorReduction;
+	btScalar	m_sor;
+	btScalar	m_erp;//used as Baumgarte factor
+	btScalar	m_erp2;//used in Split Impulse
+	btScalar	m_globalCfm;//constraint force mixing
+	int			m_splitImpulse;
+	btScalar	m_splitImpulsePenetrationThreshold;
+	btScalar	m_linearSlop;
+	btScalar	m_warmstartingFactor;
+
+	int			m_solverMode;
+	int	m_restingContactRestitutionThreshold;
+	int			m_minimumSolverBatchSize;
+
+
+};
+
+struct btContactSolverInfo : public btContactSolverInfoData
+{
+
+	
+
+	inline btContactSolverInfo()
+	{
+		m_tau = btScalar(0.6);
+		m_damping = btScalar(1.0);
+		m_friction = btScalar(0.3);
+		m_restitution = btScalar(0.);
+		m_maxErrorReduction = btScalar(20.);
+		m_numIterations = 10;
+		m_erp = btScalar(0.2);
+		m_erp2 = btScalar(0.1);
+		m_globalCfm = btScalar(0.);
+		m_sor = btScalar(1.);
+		m_splitImpulse = false;
+		m_splitImpulsePenetrationThreshold = -0.02f;
+		m_linearSlop = btScalar(0.0);
+		m_warmstartingFactor=btScalar(0.85);
+		m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER;
+		m_restingContactRestitutionThreshold = 2;//resting contact lifetime threshold to disable restitution
+		m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
+	}
+};
+
+#endif //CONTACT_SOLVER_INFO

libs/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h

@@ -0,0 +1,588 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+/// 2009 March: btGeneric6DofConstraint refactored by Roman Ponomarev
+/// Added support for generic constraint solver through getInfo1/getInfo2 methods
+
+/*
+2007-09-09
+btGeneric6DofConstraint Refactored by Francisco Le?n
+email: projectileman@yahoo.com
+http://gimpact.sf.net
+*/
+
+
+#ifndef GENERIC_6DOF_CONSTRAINT_H
+#define GENERIC_6DOF_CONSTRAINT_H
+
+#include "LinearMath/btVector3.h"
+#include "btJacobianEntry.h"
+#include "btTypedConstraint.h"
+
+class btRigidBody;
+
+
+
+
+//! Rotation Limit structure for generic joints
+class btRotationalLimitMotor
+{
+public:
+    //! limit_parameters
+    //!@{
+    btScalar m_loLimit;//!< joint limit
+    btScalar m_hiLimit;//!< joint limit
+    btScalar m_targetVelocity;//!< target motor velocity
+    btScalar m_maxMotorForce;//!< max force on motor
+    btScalar m_maxLimitForce;//!< max force on limit
+    btScalar m_damping;//!< Damping.
+    btScalar m_limitSoftness;//! Relaxation factor
+    btScalar m_normalCFM;//!< Constraint force mixing factor
+    btScalar m_stopERP;//!< Error tolerance factor when joint is at limit
+    btScalar m_stopCFM;//!< Constraint force mixing factor when joint is at limit
+    btScalar m_bounce;//!< restitution factor
+    bool m_enableMotor;
+
+    //!@}
+
+    //! temp_variables
+    //!@{
+    btScalar m_currentLimitError;//!  How much is violated this limit
+    btScalar m_currentPosition;     //!  current value of angle 
+    int m_currentLimit;//!< 0=free, 1=at lo limit, 2=at hi limit
+    btScalar m_accumulatedImpulse;
+    //!@}
+
+    btRotationalLimitMotor()
+    {
+    	m_accumulatedImpulse = 0.f;
+        m_targetVelocity = 0;
+        m_maxMotorForce = 0.1f;
+        m_maxLimitForce = 300.0f;
+        m_loLimit = 1.0f;
+        m_hiLimit = -1.0f;
+		m_normalCFM = 0.f;
+		m_stopERP = 0.2f;
+		m_stopCFM = 0.f;
+        m_bounce = 0.0f;
+        m_damping = 1.0f;
+        m_limitSoftness = 0.5f;
+        m_currentLimit = 0;
+        m_currentLimitError = 0;
+        m_enableMotor = false;
+    }
+
+    btRotationalLimitMotor(const btRotationalLimitMotor & limot)
+    {
+        m_targetVelocity = limot.m_targetVelocity;
+        m_maxMotorForce = limot.m_maxMotorForce;
+        m_limitSoftness = limot.m_limitSoftness;
+        m_loLimit = limot.m_loLimit;
+        m_hiLimit = limot.m_hiLimit;
+		m_normalCFM = limot.m_normalCFM;
+		m_stopERP = limot.m_stopERP;
+		m_stopCFM =	limot.m_stopCFM;
+        m_bounce = limot.m_bounce;
+        m_currentLimit = limot.m_currentLimit;
+        m_currentLimitError = limot.m_currentLimitError;
+        m_enableMotor = limot.m_enableMotor;
+    }
+
+
+
+	//! Is limited
+    bool isLimited()
+    {
+    	if(m_loLimit > m_hiLimit) return false;
+    	return true;
+    }
+
+	//! Need apply correction
+    bool needApplyTorques()
+    {
+    	if(m_currentLimit == 0 && m_enableMotor == false) return false;
+    	return true;
+    }
+
+	//! calculates  error
+	/*!
+	calculates m_currentLimit and m_currentLimitError.
+	*/
+	int testLimitValue(btScalar test_value);
+
+	//! apply the correction impulses for two bodies
+    btScalar solveAngularLimits(btScalar timeStep,btVector3& axis, btScalar jacDiagABInv,btRigidBody * body0, btRigidBody * body1);
+
+};
+
+
+
+class btTranslationalLimitMotor
+{
+public:
+	btVector3 m_lowerLimit;//!< the constraint lower limits
+    btVector3 m_upperLimit;//!< the constraint upper limits
+    btVector3 m_accumulatedImpulse;
+    //! Linear_Limit_parameters
+    //!@{
+    btScalar	m_limitSoftness;//!< Softness for linear limit
+    btScalar	m_damping;//!< Damping for linear limit
+    btScalar	m_restitution;//! Bounce parameter for linear limit
+	btVector3	m_normalCFM;//!< Constraint force mixing factor
+    btVector3	m_stopERP;//!< Error tolerance factor when joint is at limit
+	btVector3	m_stopCFM;//!< Constraint force mixing factor when joint is at limit
+    //!@}
+	bool		m_enableMotor[3];
+    btVector3	m_targetVelocity;//!< target motor velocity
+    btVector3	m_maxMotorForce;//!< max force on motor
+    btVector3	m_currentLimitError;//!  How much is violated this limit
+    btVector3	m_currentLinearDiff;//!  Current relative offset of constraint frames
+    int			m_currentLimit[3];//!< 0=free, 1=at lower limit, 2=at upper limit
+
+    btTranslationalLimitMotor()
+    {
+    	m_lowerLimit.setValue(0.f,0.f,0.f);
+    	m_upperLimit.setValue(0.f,0.f,0.f);
+    	m_accumulatedImpulse.setValue(0.f,0.f,0.f);
+		m_normalCFM.setValue(0.f, 0.f, 0.f);
+		m_stopERP.setValue(0.2f, 0.2f, 0.2f);
+		m_stopCFM.setValue(0.f, 0.f, 0.f);
+
+    	m_limitSoftness = 0.7f;
+    	m_damping = btScalar(1.0f);
+    	m_restitution = btScalar(0.5f);
+		for(int i=0; i < 3; i++) 
+		{
+			m_enableMotor[i] = false;
+			m_targetVelocity[i] = btScalar(0.f);
+			m_maxMotorForce[i] = btScalar(0.f);
+		}
+    }
+
+    btTranslationalLimitMotor(const btTranslationalLimitMotor & other )
+    {
+    	m_lowerLimit = other.m_lowerLimit;
+    	m_upperLimit = other.m_upperLimit;
+    	m_accumulatedImpulse = other.m_accumulatedImpulse;
+
+    	m_limitSoftness = other.m_limitSoftness ;
+    	m_damping = other.m_damping;
+    	m_restitution = other.m_restitution;
+		m_normalCFM = other.m_normalCFM;
+		m_stopERP = other.m_stopERP;
+		m_stopCFM = other.m_stopCFM;
+
+		for(int i=0; i < 3; i++) 
+		{
+			m_enableMotor[i] = other.m_enableMotor[i];
+			m_targetVelocity[i] = other.m_targetVelocity[i];
+			m_maxMotorForce[i] = other.m_maxMotorForce[i];
+		}
+    }
+
+    //! Test limit
+	/*!
+    - free means upper < lower,
+    - locked means upper == lower
+    - limited means upper > lower
+    - limitIndex: first 3 are linear, next 3 are angular
+    */
+    inline bool	isLimited(int limitIndex)
+    {
+       return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
+    }
+    inline bool needApplyForce(int limitIndex)
+    {
+    	if(m_currentLimit[limitIndex] == 0 && m_enableMotor[limitIndex] == false) return false;
+    	return true;
+    }
+	int testLimitValue(int limitIndex, btScalar test_value);
+
+
+    btScalar solveLinearAxis(
+    	btScalar timeStep,
+        btScalar jacDiagABInv,
+        btRigidBody& body1,const btVector3 &pointInA,
+        btRigidBody& body2,const btVector3 &pointInB,
+        int limit_index,
+        const btVector3 & axis_normal_on_a,
+		const btVector3 & anchorPos);
+
+
+};
+
+enum bt6DofFlags
+{
+	BT_6DOF_FLAGS_CFM_NORM = 1,
+	BT_6DOF_FLAGS_CFM_STOP = 2,
+	BT_6DOF_FLAGS_ERP_STOP = 4
+};
+#define BT_6DOF_FLAGS_AXIS_SHIFT 3 // bits per axis
+
+
+/// btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
+/*!
+btGeneric6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'.
+currently this limit supports rotational motors<br>
+<ul>
+<li> For Linear limits, use btGeneric6DofConstraint.setLinearUpperLimit, btGeneric6DofConstraint.setLinearLowerLimit. You can set the parameters with the btTranslationalLimitMotor structure accsesible through the btGeneric6DofConstraint.getTranslationalLimitMotor method.
+At this moment translational motors are not supported. May be in the future. </li>
+
+<li> For Angular limits, use the btRotationalLimitMotor structure for configuring the limit.
+This is accessible through btGeneric6DofConstraint.getLimitMotor method,
+This brings support for limit parameters and motors. </li>
+
+<li> Angulars limits have these possible ranges:
+<table border=1 >
+<tr>
+	<td><b>AXIS</b></td>
+	<td><b>MIN ANGLE</b></td>
+	<td><b>MAX ANGLE</b></td>
+</tr><tr>
+	<td>X</td>
+	<td>-PI</td>
+	<td>PI</td>
+</tr><tr>
+	<td>Y</td>
+	<td>-PI/2</td>
+	<td>PI/2</td>
+</tr><tr>
+	<td>Z</td>
+	<td>-PI</td>
+	<td>PI</td>
+</tr>
+</table>
+</li>
+</ul>
+
+*/
+class btGeneric6DofConstraint : public btTypedConstraint
+{
+protected:
+
+	//! relative_frames
+    //!@{
+	btTransform	m_frameInA;//!< the constraint space w.r.t body A
+    btTransform	m_frameInB;//!< the constraint space w.r.t body B
+    //!@}
+
+    //! Jacobians
+    //!@{
+    btJacobianEntry	m_jacLinear[3];//!< 3 orthogonal linear constraints
+    btJacobianEntry	m_jacAng[3];//!< 3 orthogonal angular constraints
+    //!@}
+
+	//! Linear_Limit_parameters
+    //!@{
+    btTranslationalLimitMotor m_linearLimits;
+    //!@}
+
+
+    //! hinge_parameters
+    //!@{
+    btRotationalLimitMotor m_angularLimits[3];
+	//!@}
+
+
+protected:
+    //! temporal variables
+    //!@{
+    btScalar m_timeStep;
+    btTransform m_calculatedTransformA;
+    btTransform m_calculatedTransformB;
+    btVector3 m_calculatedAxisAngleDiff;
+    btVector3 m_calculatedAxis[3];
+    btVector3 m_calculatedLinearDiff;
+	btScalar	m_factA;
+	btScalar	m_factB;
+	bool		m_hasStaticBody;
+    
+	btVector3 m_AnchorPos; // point betwen pivots of bodies A and B to solve linear axes
+
+    bool	m_useLinearReferenceFrameA;
+	bool	m_useOffsetForConstraintFrame;
+    
+	int		m_flags;
+
+    //!@}
+
+    btGeneric6DofConstraint&	operator=(btGeneric6DofConstraint&	other)
+    {
+        btAssert(0);
+        (void) other;
+        return *this;
+    }
+
+
+	int setAngularLimits(btConstraintInfo2 *info, int row_offset,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
+
+	int setLinearLimits(btConstraintInfo2 *info, int row, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
+
+    void buildLinearJacobian(
+        btJacobianEntry & jacLinear,const btVector3 & normalWorld,
+        const btVector3 & pivotAInW,const btVector3 & pivotBInW);
+
+    void buildAngularJacobian(btJacobianEntry & jacAngular,const btVector3 & jointAxisW);
+
+	// tests linear limits
+	void calculateLinearInfo();
+
+	//! calcs the euler angles between the two bodies.
+    void calculateAngleInfo();
+
+
+
+public:
+
+	///for backwards compatibility during the transition to 'getInfo/getInfo2'
+	bool		m_useSolveConstraintObsolete;
+
+    btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
+    btGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
+    
+	//! Calcs global transform of the offsets
+	/*!
+	Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.
+	\sa btGeneric6DofConstraint.getCalculatedTransformA , btGeneric6DofConstraint.getCalculatedTransformB, btGeneric6DofConstraint.calculateAngleInfo
+	*/
+    void calculateTransforms(const btTransform& transA,const btTransform& transB);
+
+	void calculateTransforms();
+
+	//! Gets the global transform of the offset for body A
+    /*!
+    \sa btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo.
+    */
+    const btTransform & getCalculatedTransformA() const
+    {
+    	return m_calculatedTransformA;
+    }
+
+    //! Gets the global transform of the offset for body B
+    /*!
+    \sa btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo.
+    */
+    const btTransform & getCalculatedTransformB() const
+    {
+    	return m_calculatedTransformB;
+    }
+
+    const btTransform & getFrameOffsetA() const
+    {
+    	return m_frameInA;
+    }
+
+    const btTransform & getFrameOffsetB() const
+    {
+    	return m_frameInB;
+    }
+
+
+    btTransform & getFrameOffsetA()
+    {
+    	return m_frameInA;
+    }
+
+    btTransform & getFrameOffsetB()
+    {
+    	return m_frameInB;
+    }
+
+
+	//! performs Jacobian calculation, and also calculates angle differences and axis
+    virtual void	buildJacobian();
+
+	virtual void getInfo1 (btConstraintInfo1* info);
+
+	void getInfo1NonVirtual (btConstraintInfo1* info);
+
+	virtual void getInfo2 (btConstraintInfo2* info);
+
+	void getInfo2NonVirtual (btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
+
+
+    void	updateRHS(btScalar	timeStep);
+
+	//! Get the rotation axis in global coordinates
+	/*!
+	\pre btGeneric6DofConstraint.buildJacobian must be called previously.
+	*/
+    btVector3 getAxis(int axis_index) const;
+
+    //! Get the relative Euler angle
+    /*!
+	\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
+	*/
+    btScalar getAngle(int axis_index) const;
+
+	//! Get the relative position of the constraint pivot
+    /*!
+	\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
+	*/
+	btScalar getRelativePivotPosition(int axis_index) const;
+
+
+	//! Test angular limit.
+	/*!
+	Calculates angular correction and returns true if limit needs to be corrected.
+	\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
+	*/
+    bool testAngularLimitMotor(int axis_index);
+
+    void	setLinearLowerLimit(const btVector3& linearLower)
+    {
+    	m_linearLimits.m_lowerLimit = linearLower;
+    }
+
+    void	setLinearUpperLimit(const btVector3& linearUpper)
+    {
+    	m_linearLimits.m_upperLimit = linearUpper;
+    }
+
+    void	setAngularLowerLimit(const btVector3& angularLower)
+    {
+		for(int i = 0; i < 3; i++) 
+			m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]);
+    }
+
+    void	setAngularUpperLimit(const btVector3& angularUpper)
+    {
+		for(int i = 0; i < 3; i++)
+			m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]);
+    }
+
+	//! Retrieves the angular limit informacion
+    btRotationalLimitMotor * getRotationalLimitMotor(int index)
+    {
+    	return &m_angularLimits[index];
+    }
+
+    //! Retrieves the  limit informacion
+    btTranslationalLimitMotor * getTranslationalLimitMotor()
+    {
+    	return &m_linearLimits;
+    }
+
+    //first 3 are linear, next 3 are angular
+    void setLimit(int axis, btScalar lo, btScalar hi)
+    {
+    	if(axis<3)
+    	{
+    		m_linearLimits.m_lowerLimit[axis] = lo;
+    		m_linearLimits.m_upperLimit[axis] = hi;
+    	}
+    	else
+    	{
+			lo = btNormalizeAngle(lo);
+			hi = btNormalizeAngle(hi);
+    		m_angularLimits[axis-3].m_loLimit = lo;
+    		m_angularLimits[axis-3].m_hiLimit = hi;
+    	}
+    }
+
+	//! Test limit
+	/*!
+    - free means upper < lower,
+    - locked means upper == lower
+    - limited means upper > lower
+    - limitIndex: first 3 are linear, next 3 are angular
+    */
+    bool	isLimited(int limitIndex)
+    {
+    	if(limitIndex<3)
+    	{
+			return m_linearLimits.isLimited(limitIndex);
+
+    	}
+        return m_angularLimits[limitIndex-3].isLimited();
+    }
+
+	virtual void calcAnchorPos(void); // overridable
+
+	int get_limit_motor_info2(	btRotationalLimitMotor * limot,
+								const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB,
+								btConstraintInfo2 *info, int row, btVector3& ax1, int rotational, int rotAllowed = false);
+
+	// access for UseFrameOffset
+	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
+	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
+
+	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+	///If no axis is provided, it uses the default axis for this constraint.
+	virtual	void setParam(int num, btScalar value, int axis = -1);
+	///return the local value of parameter
+	virtual	btScalar getParam(int num, int axis = -1) const;
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+	
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btGeneric6DofConstraintData
+{
+	btTypedConstraintData	m_typeConstraintData;
+	btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+	btTransformFloatData m_rbBFrame;
+	
+	btVector3FloatData	m_linearUpperLimit;
+	btVector3FloatData	m_linearLowerLimit;
+
+	btVector3FloatData	m_angularUpperLimit;
+	btVector3FloatData	m_angularLowerLimit;
+	
+	int	m_useLinearReferenceFrameA;
+	int m_useOffsetForConstraintFrame;
+};
+
+SIMD_FORCE_INLINE	int	btGeneric6DofConstraint::calculateSerializeBufferSize() const
+{
+	return sizeof(btGeneric6DofConstraintData);
+}
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btGeneric6DofConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+
+	btGeneric6DofConstraintData* dof = (btGeneric6DofConstraintData*)dataBuffer;
+	btTypedConstraint::serialize(&dof->m_typeConstraintData,serializer);
+
+	m_frameInA.serializeFloat(dof->m_rbAFrame);
+	m_frameInB.serializeFloat(dof->m_rbBFrame);
+
+		
+	int i;
+	for (i=0;i<3;i++)
+	{
+		dof->m_angularLowerLimit.m_floats[i] =  float(m_angularLimits[i].m_loLimit);
+		dof->m_angularUpperLimit.m_floats[i] =  float(m_angularLimits[i].m_hiLimit);
+		dof->m_linearLowerLimit.m_floats[i] = float(m_linearLimits.m_lowerLimit[i]);
+		dof->m_linearUpperLimit.m_floats[i] = float(m_linearLimits.m_upperLimit[i]);
+	}
+	
+	dof->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA? 1 : 0;
+	dof->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame ? 1 : 0;
+
+	return "btGeneric6DofConstraintData";
+}
+
+
+
+
+
+#endif //GENERIC_6DOF_CONSTRAINT_H

libs/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp

@@ -0,0 +1,151 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "btGeneric6DofSpringConstraint.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "LinearMath/btTransformUtil.h"
+
+
+btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA)
+	: btGeneric6DofConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA)
+{
+	for(int i = 0; i < 6; i++)
+	{
+		m_springEnabled[i] = false;
+		m_equilibriumPoint[i] = btScalar(0.f);
+		m_springStiffness[i] = btScalar(0.f);
+		m_springDamping[i] = btScalar(1.f);
+	}
+}
+
+
+void btGeneric6DofSpringConstraint::enableSpring(int index, bool onOff)
+{
+	btAssert((index >= 0) && (index < 6));
+	m_springEnabled[index] = onOff;
+	if(index < 3)
+	{
+		m_linearLimits.m_enableMotor[index] = onOff;
+	}
+	else
+	{
+		m_angularLimits[index - 3].m_enableMotor = onOff;
+	}
+}
+
+
+
+void btGeneric6DofSpringConstraint::setStiffness(int index, btScalar stiffness)
+{
+	btAssert((index >= 0) && (index < 6));
+	m_springStiffness[index] = stiffness;
+}
+
+
+void btGeneric6DofSpringConstraint::setDamping(int index, btScalar damping)
+{
+	btAssert((index >= 0) && (index < 6));
+	m_springDamping[index] = damping;
+}
+
+
+void btGeneric6DofSpringConstraint::setEquilibriumPoint()
+{
+	calculateTransforms();
+	int i;
+
+	for( i = 0; i < 3; i++)
+	{
+		m_equilibriumPoint[i] = m_calculatedLinearDiff[i];
+	}
+	for(i = 0; i < 3; i++)
+	{
+		m_equilibriumPoint[i + 3] = m_calculatedAxisAngleDiff[i];
+	}
+}
+
+
+
+void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index)
+{
+	btAssert((index >= 0) && (index < 6));
+	calculateTransforms();
+	if(index < 3)
+	{
+		m_equilibriumPoint[index] = m_calculatedLinearDiff[index];
+	}
+	else
+	{
+		m_equilibriumPoint[index] = m_calculatedAxisAngleDiff[index - 3];
+	}
+}
+
+void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index, btScalar val)
+{
+	btAssert((index >= 0) && (index < 6));
+	m_equilibriumPoint[index] = val;
+}
+
+
+void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* info)
+{
+	// it is assumed that calculateTransforms() have been called before this call
+	int i;
+	btVector3 relVel = m_rbB.getLinearVelocity() - m_rbA.getLinearVelocity();
+	for(i = 0; i < 3; i++)
+	{
+		if(m_springEnabled[i])
+		{
+			// get current position of constraint
+			btScalar currPos = m_calculatedLinearDiff[i];
+			// calculate difference
+			btScalar delta = currPos - m_equilibriumPoint[i];
+			// spring force is (delta * m_stiffness) according to Hooke's Law
+			btScalar force = delta * m_springStiffness[i];
+			btScalar velFactor = info->fps * m_springDamping[i] / btScalar(info->m_numIterations);
+			m_linearLimits.m_targetVelocity[i] =  velFactor * force;
+			m_linearLimits.m_maxMotorForce[i] =  btFabs(force) / info->fps;
+		}
+	}
+	for(i = 0; i < 3; i++)
+	{
+		if(m_springEnabled[i + 3])
+		{
+			// get current position of constraint
+			btScalar currPos = m_calculatedAxisAngleDiff[i];
+			// calculate difference
+			btScalar delta = currPos - m_equilibriumPoint[i+3];
+			// spring force is (-delta * m_stiffness) according to Hooke's Law
+			btScalar force = -delta * m_springStiffness[i+3];
+			btScalar velFactor = info->fps * m_springDamping[i+3] / btScalar(info->m_numIterations);
+			m_angularLimits[i].m_targetVelocity = velFactor * force;
+			m_angularLimits[i].m_maxMotorForce = btFabs(force) / info->fps;
+		}
+	}
+}
+
+
+void btGeneric6DofSpringConstraint::getInfo2(btConstraintInfo2* info)
+{
+	// this will be called by constraint solver at the constraint setup stage
+	// set current motor parameters
+	internalUpdateSprings(info);
+	// do the rest of job for constraint setup
+	btGeneric6DofConstraint::getInfo2(info);
+}
+
+
+
+

libs/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h

@@ -0,0 +1,55 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef GENERIC_6DOF_SPRING_CONSTRAINT_H
+#define GENERIC_6DOF_SPRING_CONSTRAINT_H
+
+
+#include "LinearMath/btVector3.h"
+#include "btTypedConstraint.h"
+#include "btGeneric6DofConstraint.h"
+
+
+/// Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF
+
+/// DOF index used in enableSpring() and setStiffness() means:
+/// 0 : translation X
+/// 1 : translation Y
+/// 2 : translation Z
+/// 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] )
+/// 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] )
+/// 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] )
+
+class btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
+{
+protected:
+	bool		m_springEnabled[6];
+	btScalar	m_equilibriumPoint[6];
+	btScalar	m_springStiffness[6];
+	btScalar	m_springDamping[6]; // between 0 and 1 (1 == no damping)
+	void internalUpdateSprings(btConstraintInfo2* info);
+public: 
+    btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
+	void enableSpring(int index, bool onOff);
+	void setStiffness(int index, btScalar stiffness);
+	void setDamping(int index, btScalar damping);
+	void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
+	void setEquilibriumPoint(int index);  // set the current constraint position/orientation as an equilibrium point for given DOF
+	void setEquilibriumPoint(int index, btScalar val);
+	virtual void getInfo2 (btConstraintInfo2* info);
+};
+
+#endif // GENERIC_6DOF_SPRING_CONSTRAINT_H
+

libs/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp

@@ -0,0 +1,66 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+#include "btHinge2Constraint.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "LinearMath/btTransformUtil.h"
+
+
+
+// constructor
+// anchor, axis1 and axis2 are in world coordinate system
+// axis1 must be orthogonal to axis2
+btHinge2Constraint::btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
+: btGeneric6DofSpringConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
+ m_anchor(anchor),
+ m_axis1(axis1),
+ m_axis2(axis2)
+{
+	// build frame basis
+	// 6DOF constraint uses Euler angles and to define limits
+	// it is assumed that rotational order is :
+	// Z - first, allowed limits are (-PI,PI);
+	// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number 
+	// used to prevent constraint from instability on poles;
+	// new position of X, allowed limits are (-PI,PI);
+	// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
+	// Build the frame in world coordinate system first
+	btVector3 zAxis = axis1.normalize();
+	btVector3 xAxis = axis2.normalize();
+	btVector3 yAxis = zAxis.cross(xAxis); // we want right coordinate system
+	btTransform frameInW;
+	frameInW.setIdentity();
+	frameInW.getBasis().setValue(	xAxis[0], yAxis[0], zAxis[0],	
+									xAxis[1], yAxis[1], zAxis[1],
+									xAxis[2], yAxis[2], zAxis[2]);
+	frameInW.setOrigin(anchor);
+	// now get constraint frame in local coordinate systems
+	m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
+	m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW;
+	// sei limits
+	setLinearLowerLimit(btVector3(0.f, 0.f, -1.f));
+	setLinearUpperLimit(btVector3(0.f, 0.f,  1.f));
+	// like front wheels of a car
+	setAngularLowerLimit(btVector3(1.f,  0.f, -SIMD_HALF_PI * 0.5f)); 
+	setAngularUpperLimit(btVector3(-1.f, 0.f,  SIMD_HALF_PI * 0.5f));
+	// enable suspension
+	enableSpring(2, true);
+	setStiffness(2, SIMD_PI * SIMD_PI * 4.f); // period 1 sec for 1 kilogramm weel :-)
+	setDamping(2, 0.01f);
+	setEquilibriumPoint();
+}
+

libs/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.h

@@ -0,0 +1,58 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef HINGE2_CONSTRAINT_H
+#define HINGE2_CONSTRAINT_H
+
+
+
+#include "LinearMath/btVector3.h"
+#include "btTypedConstraint.h"
+#include "btGeneric6DofSpringConstraint.h"
+
+
+
+// Constraint similar to ODE Hinge2 Joint
+// has 3 degrees of frredom:
+// 2 rotational degrees of freedom, similar to Euler rotations around Z (axis 1) and X (axis 2)
+// 1 translational (along axis Z) with suspension spring
+
+class btHinge2Constraint : public btGeneric6DofSpringConstraint
+{
+protected:
+	btVector3	m_anchor;
+	btVector3	m_axis1;
+	btVector3	m_axis2;
+public:
+	// constructor
+	// anchor, axis1 and axis2 are in world coordinate system
+	// axis1 must be orthogonal to axis2
+    btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2);
+	// access
+	const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
+	const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
+	const btVector3& getAxis1() { return m_axis1; }
+	const btVector3& getAxis2() { return m_axis2; }
+	btScalar getAngle1() { return getAngle(2); }
+	btScalar getAngle2() { return getAngle(0); }
+	// limits
+	void setUpperLimit(btScalar ang1max) { setAngularUpperLimit(btVector3(-1.f, 0.f, ang1max)); }
+	void setLowerLimit(btScalar ang1min) { setAngularLowerLimit(btVector3( 1.f, 0.f, ang1min)); }
+};
+
+
+
+#endif // HINGE2_CONSTRAINT_H
+

libs/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h

@@ -0,0 +1,332 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+/* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */
+
+#ifndef HINGECONSTRAINT_H
+#define HINGECONSTRAINT_H
+
+#include "LinearMath/btVector3.h"
+#include "btJacobianEntry.h"
+#include "btTypedConstraint.h"
+
+class btRigidBody;
+
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btHingeConstraintData	btHingeConstraintDoubleData
+#define btHingeConstraintDataName	"btHingeConstraintDoubleData"
+#else
+#define btHingeConstraintData	btHingeConstraintFloatData
+#define btHingeConstraintDataName	"btHingeConstraintFloatData"
+#endif //BT_USE_DOUBLE_PRECISION
+
+
+enum btHingeFlags
+{
+	BT_HINGE_FLAGS_CFM_STOP = 1,
+	BT_HINGE_FLAGS_ERP_STOP = 2,
+	BT_HINGE_FLAGS_CFM_NORM = 4
+};
+
+
+/// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
+/// axis defines the orientation of the hinge axis
+ATTRIBUTE_ALIGNED16(class) btHingeConstraint : public btTypedConstraint
+{
+#ifdef IN_PARALLELL_SOLVER
+public:
+#endif
+	btJacobianEntry	m_jac[3]; //3 orthogonal linear constraints
+	btJacobianEntry	m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor
+
+	btTransform m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+	btTransform m_rbBFrame;
+
+	btScalar	m_motorTargetVelocity;
+	btScalar	m_maxMotorImpulse;
+
+	btScalar	m_limitSoftness; 
+	btScalar	m_biasFactor; 
+	btScalar    m_relaxationFactor; 
+
+	btScalar    m_lowerLimit;	
+	btScalar    m_upperLimit;	
+	
+	btScalar	m_kHinge;
+
+	btScalar	m_limitSign;
+	btScalar	m_correction;
+
+	btScalar	m_accLimitImpulse;
+	btScalar	m_hingeAngle;
+	btScalar    m_referenceSign;
+
+	bool		m_angularOnly;
+	bool		m_enableAngularMotor;
+	bool		m_solveLimit;
+	bool		m_useSolveConstraintObsolete;
+	bool		m_useOffsetForConstraintFrame;
+	bool		m_useReferenceFrameA;
+
+	btScalar	m_accMotorImpulse;
+
+	int			m_flags;
+	btScalar	m_normalCFM;
+	btScalar	m_stopCFM;
+	btScalar	m_stopERP;
+
+	
+public:
+
+	btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA = false);
+
+	btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA = false);
+	
+	btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false);
+
+	btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false);
+
+
+	virtual void	buildJacobian();
+
+	virtual void getInfo1 (btConstraintInfo1* info);
+
+	void getInfo1NonVirtual(btConstraintInfo1* info);
+
+	virtual void getInfo2 (btConstraintInfo2* info);
+
+	void	getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
+
+	void	getInfo2Internal(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
+	void	getInfo2InternalUsingFrameOffset(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
+		
+
+	void	updateRHS(btScalar	timeStep);
+
+	const btRigidBody& getRigidBodyA() const
+	{
+		return m_rbA;
+	}
+	const btRigidBody& getRigidBodyB() const
+	{
+		return m_rbB;
+	}
+
+	btRigidBody& getRigidBodyA()	
+	{		
+		return m_rbA;	
+	}	
+
+	btRigidBody& getRigidBodyB()	
+	{		
+		return m_rbB;	
+	}	
+	
+	void	setAngularOnly(bool angularOnly)
+	{
+		m_angularOnly = angularOnly;
+	}
+
+	void	enableAngularMotor(bool enableMotor,btScalar targetVelocity,btScalar maxMotorImpulse)
+	{
+		m_enableAngularMotor  = enableMotor;
+		m_motorTargetVelocity = targetVelocity;
+		m_maxMotorImpulse = maxMotorImpulse;
+	}
+
+	// extra motor API, including ability to set a target rotation (as opposed to angular velocity)
+	// note: setMotorTarget sets angular velocity under the hood, so you must call it every tick to
+	//       maintain a given angular target.
+	void enableMotor(bool enableMotor) 	{ m_enableAngularMotor = enableMotor; }
+	void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; }
+	void setMotorTarget(const btQuaternion& qAinB, btScalar dt); // qAinB is rotation of body A wrt body B.
+	void setMotorTarget(btScalar targetAngle, btScalar dt);
+
+
+	void	setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
+	{
+		m_lowerLimit = btNormalizeAngle(low);
+		m_upperLimit = btNormalizeAngle(high);
+
+		m_limitSoftness =  _softness;
+		m_biasFactor = _biasFactor;
+		m_relaxationFactor = _relaxationFactor;
+
+	}
+
+	void	setAxis(btVector3& axisInA)
+	{
+		btVector3 rbAxisA1, rbAxisA2;
+		btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2);
+		btVector3 pivotInA = m_rbAFrame.getOrigin();
+//		m_rbAFrame.getOrigin() = pivotInA;
+		m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(),
+										rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(),
+										rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() );
+
+		btVector3 axisInB = m_rbA.getCenterOfMassTransform().getBasis() * axisInA;
+
+		btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB);
+		btVector3 rbAxisB1 =  quatRotate(rotationArc,rbAxisA1);
+		btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
+
+
+		m_rbBFrame.getOrigin() = m_rbA.getCenterOfMassTransform()(pivotInA);
+		m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(),
+										rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(),
+										rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
+	}
+
+	btScalar	getLowerLimit() const
+	{
+		return m_lowerLimit;
+	}
+
+	btScalar	getUpperLimit() const
+	{
+		return m_upperLimit;
+	}
+
+
+	btScalar getHingeAngle();
+
+	btScalar getHingeAngle(const btTransform& transA,const btTransform& transB);
+
+	void testLimit(const btTransform& transA,const btTransform& transB);
+
+
+	const btTransform& getAFrame() const { return m_rbAFrame; };	
+	const btTransform& getBFrame() const { return m_rbBFrame; };
+
+	btTransform& getAFrame() { return m_rbAFrame; };	
+	btTransform& getBFrame() { return m_rbBFrame; };
+
+	inline int getSolveLimit()
+	{
+		return m_solveLimit;
+	}
+
+	inline btScalar getLimitSign()
+	{
+		return m_limitSign;
+	}
+
+	inline bool getAngularOnly() 
+	{ 
+		return m_angularOnly; 
+	}
+	inline bool getEnableAngularMotor() 
+	{ 
+		return m_enableAngularMotor; 
+	}
+	inline btScalar getMotorTargetVelosity() 
+	{ 
+		return m_motorTargetVelocity; 
+	}
+	inline btScalar getMaxMotorImpulse() 
+	{ 
+		return m_maxMotorImpulse; 
+	}
+	// access for UseFrameOffset
+	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
+	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
+
+
+	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+	///If no axis is provided, it uses the default axis for this constraint.
+	virtual	void	setParam(int num, btScalar value, int axis = -1);
+	///return the local value of parameter
+	virtual	btScalar getParam(int num, int axis = -1) const;
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btHingeConstraintDoubleData
+{
+	btTypedConstraintData	m_typeConstraintData;
+	btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+	btTransformDoubleData m_rbBFrame;
+	int			m_useReferenceFrameA;
+	int			m_angularOnly;
+	int			m_enableAngularMotor;
+	float	m_motorTargetVelocity;
+	float	m_maxMotorImpulse;
+
+	float	m_lowerLimit;
+	float	m_upperLimit;
+	float	m_limitSoftness;
+	float	m_biasFactor;
+	float	m_relaxationFactor;
+
+};
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btHingeConstraintFloatData
+{
+	btTypedConstraintData	m_typeConstraintData;
+	btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+	btTransformFloatData m_rbBFrame;
+	int			m_useReferenceFrameA;
+	int			m_angularOnly;
+	
+	int			m_enableAngularMotor;
+	float	m_motorTargetVelocity;
+	float	m_maxMotorImpulse;
+
+	float	m_lowerLimit;
+	float	m_upperLimit;
+	float	m_limitSoftness;
+	float	m_biasFactor;
+	float	m_relaxationFactor;
+
+};
+
+
+
+SIMD_FORCE_INLINE	int	btHingeConstraint::calculateSerializeBufferSize() const
+{
+	return sizeof(btHingeConstraintData);
+}
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btHingeConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btHingeConstraintData* hingeData = (btHingeConstraintData*)dataBuffer;
+	btTypedConstraint::serialize(&hingeData->m_typeConstraintData,serializer);
+
+	m_rbAFrame.serialize(hingeData->m_rbAFrame);
+	m_rbBFrame.serialize(hingeData->m_rbBFrame);
+
+	hingeData->m_angularOnly = m_angularOnly;
+	hingeData->m_enableAngularMotor = m_enableAngularMotor;
+	hingeData->m_maxMotorImpulse = float(m_maxMotorImpulse);
+	hingeData->m_motorTargetVelocity = float(m_motorTargetVelocity);
+	hingeData->m_useReferenceFrameA = m_useReferenceFrameA;
+	
+	hingeData->m_lowerLimit = float(m_lowerLimit);
+	hingeData->m_upperLimit = float(m_upperLimit);
+	hingeData->m_limitSoftness = float(m_limitSoftness);
+	hingeData->m_biasFactor = float(m_biasFactor);
+	hingeData->m_relaxationFactor = float(m_relaxationFactor);
+
+	return btHingeConstraintDataName;
+}
+
+#endif //HINGECONSTRAINT_H

libs/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h

@@ -0,0 +1,156 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef JACOBIAN_ENTRY_H
+#define JACOBIAN_ENTRY_H
+
+#include "LinearMath/btVector3.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+
+
+//notes:
+// Another memory optimization would be to store m_1MinvJt in the remaining 3 w components
+// which makes the btJacobianEntry memory layout 16 bytes
+// if you only are interested in angular part, just feed massInvA and massInvB zero
+
+/// Jacobian entry is an abstraction that allows to describe constraints
+/// it can be used in combination with a constraint solver
+/// Can be used to relate the effect of an impulse to the constraint error
+ATTRIBUTE_ALIGNED16(class) btJacobianEntry
+{
+public:
+	btJacobianEntry() {};
+	//constraint between two different rigidbodies
+	btJacobianEntry(
+		const btMatrix3x3& world2A,
+		const btMatrix3x3& world2B,
+		const btVector3& rel_pos1,const btVector3& rel_pos2,
+		const btVector3& jointAxis,
+		const btVector3& inertiaInvA, 
+		const btScalar massInvA,
+		const btVector3& inertiaInvB,
+		const btScalar massInvB)
+		:m_linearJointAxis(jointAxis)
+	{
+		m_aJ = world2A*(rel_pos1.cross(m_linearJointAxis));
+		m_bJ = world2B*(rel_pos2.cross(-m_linearJointAxis));
+		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_1MinvJt = inertiaInvB * m_bJ;
+		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
+
+		btAssert(m_Adiag > btScalar(0.0));
+	}
+
+	//angular constraint between two different rigidbodies
+	btJacobianEntry(const btVector3& jointAxis,
+		const btMatrix3x3& world2A,
+		const btMatrix3x3& world2B,
+		const btVector3& inertiaInvA,
+		const btVector3& inertiaInvB)
+		:m_linearJointAxis(btVector3(btScalar(0.),btScalar(0.),btScalar(0.)))
+	{
+		m_aJ= world2A*jointAxis;
+		m_bJ = world2B*-jointAxis;
+		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_1MinvJt = inertiaInvB * m_bJ;
+		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
+
+		btAssert(m_Adiag > btScalar(0.0));
+	}
+
+	//angular constraint between two different rigidbodies
+	btJacobianEntry(const btVector3& axisInA,
+		const btVector3& axisInB,
+		const btVector3& inertiaInvA,
+		const btVector3& inertiaInvB)
+		: m_linearJointAxis(btVector3(btScalar(0.),btScalar(0.),btScalar(0.)))
+		, m_aJ(axisInA)
+		, m_bJ(-axisInB)
+	{
+		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_1MinvJt = inertiaInvB * m_bJ;
+		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
+
+		btAssert(m_Adiag > btScalar(0.0));
+	}
+
+	//constraint on one rigidbody
+	btJacobianEntry(
+		const btMatrix3x3& world2A,
+		const btVector3& rel_pos1,const btVector3& rel_pos2,
+		const btVector3& jointAxis,
+		const btVector3& inertiaInvA, 
+		const btScalar massInvA)
+		:m_linearJointAxis(jointAxis)
+	{
+		m_aJ= world2A*(rel_pos1.cross(jointAxis));
+		m_bJ = world2A*(rel_pos2.cross(-jointAxis));
+		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_1MinvJt = btVector3(btScalar(0.),btScalar(0.),btScalar(0.));
+		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
+
+		btAssert(m_Adiag > btScalar(0.0));
+	}
+
+	btScalar	getDiagonal() const { return m_Adiag; }
+
+	// for two constraints on the same rigidbody (for example vehicle friction)
+	btScalar	getNonDiagonal(const btJacobianEntry& jacB, const btScalar massInvA) const
+	{
+		const btJacobianEntry& jacA = *this;
+		btScalar lin = massInvA * jacA.m_linearJointAxis.dot(jacB.m_linearJointAxis);
+		btScalar ang = jacA.m_0MinvJt.dot(jacB.m_aJ);
+		return lin + ang;
+	}
+
+	
+
+	// for two constraints on sharing two same rigidbodies (for example two contact points between two rigidbodies)
+	btScalar	getNonDiagonal(const btJacobianEntry& jacB,const btScalar massInvA,const btScalar massInvB) const
+	{
+		const btJacobianEntry& jacA = *this;
+		btVector3 lin = jacA.m_linearJointAxis * jacB.m_linearJointAxis;
+		btVector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ;
+		btVector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ;
+		btVector3 lin0 = massInvA * lin ;
+		btVector3 lin1 = massInvB * lin;
+		btVector3 sum = ang0+ang1+lin0+lin1;
+		return sum[0]+sum[1]+sum[2];
+	}
+
+	btScalar getRelativeVelocity(const btVector3& linvelA,const btVector3& angvelA,const btVector3& linvelB,const btVector3& angvelB)
+	{
+		btVector3 linrel = linvelA - linvelB;
+		btVector3 angvela  = angvelA * m_aJ;
+		btVector3 angvelb  = angvelB * m_bJ;
+		linrel *= m_linearJointAxis;
+		angvela += angvelb;
+		angvela += linrel;
+		btScalar rel_vel2 = angvela[0]+angvela[1]+angvela[2];
+		return rel_vel2 + SIMD_EPSILON;
+	}
+//private:
+
+	btVector3	m_linearJointAxis;
+	btVector3	m_aJ;
+	btVector3	m_bJ;
+	btVector3	m_0MinvJt;
+	btVector3	m_1MinvJt;
+	//Optimization: can be stored in the w/last component of one of the vectors
+	btScalar	m_Adiag;
+
+};
+
+#endif //JACOBIAN_ENTRY_H

libs/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp

@@ -0,0 +1,230 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#include "btPoint2PointConstraint.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include <new>
+
+
+
+
+
+btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB)
+:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB),
+m_flags(0),
+m_useSolveConstraintObsolete(false)
+{
+
+}
+
+
+btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA)
+:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)),
+m_flags(0),
+m_useSolveConstraintObsolete(false)
+{
+	
+}
+
+void	btPoint2PointConstraint::buildJacobian()
+{
+
+	///we need it for both methods
+	{
+		m_appliedImpulse = btScalar(0.);
+
+		btVector3	normal(0,0,0);
+
+		for (int i=0;i<3;i++)
+		{
+			normal[i] = 1;
+			new (&m_jac[i]) btJacobianEntry(
+			m_rbA.getCenterOfMassTransform().getBasis().transpose(),
+			m_rbB.getCenterOfMassTransform().getBasis().transpose(),
+			m_rbA.getCenterOfMassTransform()*m_pivotInA - m_rbA.getCenterOfMassPosition(),
+			m_rbB.getCenterOfMassTransform()*m_pivotInB - m_rbB.getCenterOfMassPosition(),
+			normal,
+			m_rbA.getInvInertiaDiagLocal(),
+			m_rbA.getInvMass(),
+			m_rbB.getInvInertiaDiagLocal(),
+			m_rbB.getInvMass());
+		normal[i] = 0;
+		}
+	}
+
+
+}
+
+void btPoint2PointConstraint::getInfo1 (btConstraintInfo1* info)
+{
+	getInfo1NonVirtual(info);
+}
+
+void btPoint2PointConstraint::getInfo1NonVirtual (btConstraintInfo1* info)
+{
+	if (m_useSolveConstraintObsolete)
+	{
+		info->m_numConstraintRows = 0;
+		info->nub = 0;
+	} else
+	{
+		info->m_numConstraintRows = 3;
+		info->nub = 3;
+	}
+}
+
+
+
+
+void btPoint2PointConstraint::getInfo2 (btConstraintInfo2* info)
+{
+	getInfo2NonVirtual(info, m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+}
+
+void btPoint2PointConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans)
+{
+	btAssert(!m_useSolveConstraintObsolete);
+
+	 //retrieve matrices
+
+	// anchor points in global coordinates with respect to body PORs.
+   
+    // set jacobian
+    info->m_J1linearAxis[0] = 1;
+	info->m_J1linearAxis[info->rowskip+1] = 1;
+	info->m_J1linearAxis[2*info->rowskip+2] = 1;
+
+	btVector3 a1 = body0_trans.getBasis()*getPivotInA();
+	{
+		btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
+		btVector3* angular1 = (btVector3*)(info->m_J1angularAxis+info->rowskip);
+		btVector3* angular2 = (btVector3*)(info->m_J1angularAxis+2*info->rowskip);
+		btVector3 a1neg = -a1;
+		a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
+	}
+    
+	/*info->m_J2linearAxis[0] = -1;
+    info->m_J2linearAxis[s+1] = -1;
+    info->m_J2linearAxis[2*s+2] = -1;
+	*/
+	
+	btVector3 a2 = body1_trans.getBasis()*getPivotInB();
+   
+	{
+		btVector3 a2n = -a2;
+		btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
+		btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip);
+		btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip);
+		a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
+	}
+    
+
+
+    // set right hand side
+	btScalar currERP = (m_flags & BT_P2P_FLAGS_ERP) ? m_erp : info->erp;
+    btScalar k = info->fps * currERP;
+    int j;
+	for (j=0; j<3; j++)
+    {
+        info->m_constraintError[j*info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]);
+		//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
+    }
+	if(m_flags & BT_P2P_FLAGS_CFM)
+	{
+		for (j=0; j<3; j++)
+		{
+			info->cfm[j*info->rowskip] = m_cfm;
+		}
+	}
+
+	btScalar impulseClamp = m_setting.m_impulseClamp;//
+	for (j=0; j<3; j++)
+    {
+		if (m_setting.m_impulseClamp > 0)
+		{
+			info->m_lowerLimit[j*info->rowskip] = -impulseClamp;
+			info->m_upperLimit[j*info->rowskip] = impulseClamp;
+		}
+	}
+	info->m_damping = m_setting.m_damping;
+	
+}
+
+
+
+void	btPoint2PointConstraint::updateRHS(btScalar	timeStep)
+{
+	(void)timeStep;
+
+}
+
+///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+///If no axis is provided, it uses the default axis for this constraint.
+void btPoint2PointConstraint::setParam(int num, btScalar value, int axis)
+{
+	if(axis != -1)
+	{
+		btAssertConstrParams(0);
+	}
+	else
+	{
+		switch(num)
+		{
+			case BT_CONSTRAINT_ERP :
+			case BT_CONSTRAINT_STOP_ERP :
+				m_erp = value; 
+				m_flags |= BT_P2P_FLAGS_ERP;
+				break;
+			case BT_CONSTRAINT_CFM :
+			case BT_CONSTRAINT_STOP_CFM :
+				m_cfm = value; 
+				m_flags |= BT_P2P_FLAGS_CFM;
+				break;
+			default: 
+				btAssertConstrParams(0);
+		}
+	}
+}
+
+///return the local value of parameter
+btScalar btPoint2PointConstraint::getParam(int num, int axis) const 
+{
+	btScalar retVal(SIMD_INFINITY);
+	if(axis != -1)
+	{
+		btAssertConstrParams(0);
+	}
+	else
+	{
+		switch(num)
+		{
+			case BT_CONSTRAINT_ERP :
+			case BT_CONSTRAINT_STOP_ERP :
+				btAssertConstrParams(m_flags & BT_P2P_FLAGS_ERP);
+				retVal = m_erp; 
+				break;
+			case BT_CONSTRAINT_CFM :
+			case BT_CONSTRAINT_STOP_CFM :
+				btAssertConstrParams(m_flags & BT_P2P_FLAGS_CFM);
+				retVal = m_cfm; 
+				break;
+			default: 
+				btAssertConstrParams(0);
+		}
+	}
+	return retVal;
+}
+	

libs/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h

@@ -0,0 +1,161 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef POINT2POINTCONSTRAINT_H
+#define POINT2POINTCONSTRAINT_H
+
+#include "LinearMath/btVector3.h"
+#include "btJacobianEntry.h"
+#include "btTypedConstraint.h"
+
+class btRigidBody;
+
+
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btPoint2PointConstraintData	btPoint2PointConstraintDoubleData
+#define btPoint2PointConstraintDataName	"btPoint2PointConstraintDoubleData"
+#else
+#define btPoint2PointConstraintData	btPoint2PointConstraintFloatData
+#define btPoint2PointConstraintDataName	"btPoint2PointConstraintFloatData"
+#endif //BT_USE_DOUBLE_PRECISION
+
+struct	btConstraintSetting
+{
+	btConstraintSetting()	:
+		m_tau(btScalar(0.3)),
+		m_damping(btScalar(1.)),
+		m_impulseClamp(btScalar(0.))
+	{
+	}
+	btScalar		m_tau;
+	btScalar		m_damping;
+	btScalar		m_impulseClamp;
+};
+
+enum btPoint2PointFlags
+{
+	BT_P2P_FLAGS_ERP = 1,
+	BT_P2P_FLAGS_CFM = 2
+};
+
+/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
+ATTRIBUTE_ALIGNED16(class) btPoint2PointConstraint : public btTypedConstraint
+{
+#ifdef IN_PARALLELL_SOLVER
+public:
+#endif
+	btJacobianEntry	m_jac[3]; //3 orthogonal linear constraints
+	
+	btVector3	m_pivotInA;
+	btVector3	m_pivotInB;
+	
+	int			m_flags;
+	btScalar	m_erp;
+	btScalar	m_cfm;
+	
+public:
+
+	///for backwards compatibility during the transition to 'getInfo/getInfo2'
+	bool		m_useSolveConstraintObsolete;
+
+	btConstraintSetting	m_setting;
+
+	btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB);
+
+	btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA);
+
+
+	virtual void	buildJacobian();
+
+	virtual void getInfo1 (btConstraintInfo1* info);
+
+	void getInfo1NonVirtual (btConstraintInfo1* info);
+
+	virtual void getInfo2 (btConstraintInfo2* info);
+
+	void getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans);
+
+	void	updateRHS(btScalar	timeStep);
+
+	void	setPivotA(const btVector3& pivotA)
+	{
+		m_pivotInA = pivotA;
+	}
+
+	void	setPivotB(const btVector3& pivotB)
+	{
+		m_pivotInB = pivotB;
+	}
+
+	const btVector3& getPivotInA() const
+	{
+		return m_pivotInA;
+	}
+
+	const btVector3& getPivotInB() const
+	{
+		return m_pivotInB;
+	}
+
+	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+	///If no axis is provided, it uses the default axis for this constraint.
+	virtual	void	setParam(int num, btScalar value, int axis = -1);
+	///return the local value of parameter
+	virtual	btScalar getParam(int num, int axis = -1) const;
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btPoint2PointConstraintFloatData
+{
+	btTypedConstraintData	m_typeConstraintData;
+	btVector3FloatData	m_pivotInA;
+	btVector3FloatData	m_pivotInB;
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btPoint2PointConstraintDoubleData
+{
+	btTypedConstraintData	m_typeConstraintData;
+	btVector3DoubleData	m_pivotInA;
+	btVector3DoubleData	m_pivotInB;
+};
+
+
+SIMD_FORCE_INLINE	int	btPoint2PointConstraint::calculateSerializeBufferSize() const
+{
+	return sizeof(btPoint2PointConstraintData);
+
+}
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btPoint2PointConstraintData* p2pData = (btPoint2PointConstraintData*)dataBuffer;
+
+	btTypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer);
+	m_pivotInA.serialize(p2pData->m_pivotInA);
+	m_pivotInB.serialize(p2pData->m_pivotInB);
+
+	return btPoint2PointConstraintDataName;
+}
+
+#endif //POINT2POINTCONSTRAINT_H

libs/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h

@@ -0,0 +1,128 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
+#define SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
+
+#include "btConstraintSolver.h"
+class btIDebugDraw;
+#include "btContactConstraint.h"
+#include "btSolverBody.h"
+#include "btSolverConstraint.h"
+#include "btTypedConstraint.h"
+#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
+
+///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
+class btSequentialImpulseConstraintSolver : public btConstraintSolver
+{
+protected:
+
+	btConstraintArray			m_tmpSolverContactConstraintPool;
+	btConstraintArray			m_tmpSolverNonContactConstraintPool;
+	btConstraintArray			m_tmpSolverContactFrictionConstraintPool;
+	btAlignedObjectArray<int>	m_orderTmpConstraintPool;
+	btAlignedObjectArray<int>	m_orderFrictionConstraintPool;
+	btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
+
+	void setupFrictionConstraint(	btSolverConstraint& solverConstraint, const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyIdB,
+									btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
+									btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, 
+									btScalar desiredVelocity=0., btScalar cfmSlip=0.);
+
+	btSolverConstraint&	addFrictionConstraint(const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
+	
+	void setupContactConstraint(btSolverConstraint& solverConstraint, btCollisionObject* colObj0, btCollisionObject* colObj1, btManifoldPoint& cp, 
+								const btContactSolverInfo& infoGlobal, btVector3& vel, btScalar& rel_vel, btScalar& relaxation, 
+								btVector3& rel_pos1, btVector3& rel_pos2);
+
+	void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, btRigidBody* rb0, btRigidBody* rb1, 
+										 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
+
+	///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
+	unsigned long	m_btSeed2;
+
+//	void	initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
+	btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
+
+	void	convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
+
+
+	void	resolveSplitPenetrationSIMD(
+        btRigidBody& body1,
+        btRigidBody& body2,
+        const btSolverConstraint& contactConstraint);
+
+	void	resolveSplitPenetrationImpulseCacheFriendly(
+        btRigidBody& body1,
+        btRigidBody& body2,
+        const btSolverConstraint& contactConstraint);
+
+	//internal method
+	int	getOrInitSolverBody(btCollisionObject& body);
+
+	void	resolveSingleConstraintRowGeneric(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
+
+	void	resolveSingleConstraintRowGenericSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
+	
+	void	resolveSingleConstraintRowLowerLimit(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
+	
+	void	resolveSingleConstraintRowLowerLimitSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
+		
+protected:
+	static btRigidBody& getFixedBody();
+	
+	virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+	virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+	btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+
+	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+	virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+
+
+public:
+
+	
+	btSequentialImpulseConstraintSolver();
+	virtual ~btSequentialImpulseConstraintSolver();
+
+	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
+	
+
+	
+	///clear internal cached data and reset random seed
+	virtual	void	reset();
+	
+	unsigned long btRand2();
+
+	int btRandInt2 (int n);
+
+	void	setRandSeed(unsigned long seed)
+	{
+		m_btSeed2 = seed;
+	}
+	unsigned long	getRandSeed() const
+	{
+		return m_btSeed2;
+	}
+
+};
+
+#ifndef BT_PREFER_SIMD
+typedef btSequentialImpulseConstraintSolver btSequentialImpulseConstraintSolverPrefered;
+#endif
+
+
+#endif //SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
+

libs/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp

@@ -0,0 +1,857 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+/*
+Added by Roman Ponomarev (rponom@gmail.com)
+April 04, 2008
+*/
+
+
+
+#include "btSliderConstraint.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "LinearMath/btTransformUtil.h"
+#include <new>
+
+#define USE_OFFSET_FOR_CONSTANT_FRAME true
+
+void btSliderConstraint::initParams()
+{
+    m_lowerLinLimit = btScalar(1.0);
+    m_upperLinLimit = btScalar(-1.0);
+    m_lowerAngLimit = btScalar(0.);
+    m_upperAngLimit = btScalar(0.);
+	m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
+	m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
+	m_dampingDirLin = btScalar(0.);
+	m_cfmDirLin = SLIDER_CONSTRAINT_DEF_CFM;
+	m_softnessDirAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
+	m_restitutionDirAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
+	m_dampingDirAng = btScalar(0.);
+	m_cfmDirAng = SLIDER_CONSTRAINT_DEF_CFM;
+	m_softnessOrthoLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
+	m_restitutionOrthoLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
+	m_dampingOrthoLin = SLIDER_CONSTRAINT_DEF_DAMPING;
+	m_cfmOrthoLin = SLIDER_CONSTRAINT_DEF_CFM;
+	m_softnessOrthoAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
+	m_restitutionOrthoAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
+	m_dampingOrthoAng = SLIDER_CONSTRAINT_DEF_DAMPING;
+	m_cfmOrthoAng = SLIDER_CONSTRAINT_DEF_CFM;
+	m_softnessLimLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
+	m_restitutionLimLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
+	m_dampingLimLin = SLIDER_CONSTRAINT_DEF_DAMPING;
+	m_cfmLimLin = SLIDER_CONSTRAINT_DEF_CFM;
+	m_softnessLimAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
+	m_restitutionLimAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
+	m_dampingLimAng = SLIDER_CONSTRAINT_DEF_DAMPING;
+	m_cfmLimAng = SLIDER_CONSTRAINT_DEF_CFM;
+
+	m_poweredLinMotor = false;
+    m_targetLinMotorVelocity = btScalar(0.);
+    m_maxLinMotorForce = btScalar(0.);
+	m_accumulatedLinMotorImpulse = btScalar(0.0);
+
+	m_poweredAngMotor = false;
+    m_targetAngMotorVelocity = btScalar(0.);
+    m_maxAngMotorForce = btScalar(0.);
+	m_accumulatedAngMotorImpulse = btScalar(0.0);
+
+	m_flags = 0;
+	m_flags = 0;
+
+	m_useOffsetForConstraintFrame = USE_OFFSET_FOR_CONSTANT_FRAME;
+
+	calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+}
+
+
+
+
+
+btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
+        : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB),
+		m_useSolveConstraintObsolete(false),
+		m_frameInA(frameInA),
+        m_frameInB(frameInB),
+		m_useLinearReferenceFrameA(useLinearReferenceFrameA)
+{
+	initParams();
+}
+
+
+
+btSliderConstraint::btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA)
+        : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, getFixedBody(), rbB),
+		m_useSolveConstraintObsolete(false),
+		m_frameInB(frameInB),
+		m_useLinearReferenceFrameA(useLinearReferenceFrameA)
+{
+	///not providing rigidbody A means implicitly using worldspace for body A
+	m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
+//	m_frameInA.getOrigin() = m_rbA.getCenterOfMassTransform()(m_frameInA.getOrigin());
+
+	initParams();
+}
+
+
+
+
+
+
+void btSliderConstraint::getInfo1(btConstraintInfo1* info)
+{
+	if (m_useSolveConstraintObsolete)
+	{
+		info->m_numConstraintRows = 0;
+		info->nub = 0;
+	}
+	else
+	{
+		info->m_numConstraintRows = 4; // Fixed 2 linear + 2 angular
+		info->nub = 2; 
+		//prepare constraint
+		calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+		testAngLimits();
+		testLinLimits();
+		if(getSolveLinLimit() || getPoweredLinMotor())
+		{
+			info->m_numConstraintRows++; // limit 3rd linear as well
+			info->nub--; 
+		}
+		if(getSolveAngLimit() || getPoweredAngMotor())
+		{
+			info->m_numConstraintRows++; // limit 3rd angular as well
+			info->nub--; 
+		}
+	}
+}
+
+void btSliderConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
+{
+
+	info->m_numConstraintRows = 6; // Fixed 2 linear + 2 angular + 1 limit (even if not used)
+	info->nub = 0; 
+}
+
+void btSliderConstraint::getInfo2(btConstraintInfo2* info)
+{
+	getInfo2NonVirtual(info,m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(), m_rbA.getLinearVelocity(),m_rbB.getLinearVelocity(), m_rbA.getInvMass(),m_rbB.getInvMass());
+}
+
+
+
+
+
+
+
+void btSliderConstraint::calculateTransforms(const btTransform& transA,const btTransform& transB)
+{
+	if(m_useLinearReferenceFrameA || (!m_useSolveConstraintObsolete))
+	{
+		m_calculatedTransformA = transA * m_frameInA;
+		m_calculatedTransformB = transB * m_frameInB;
+	}
+	else
+	{
+		m_calculatedTransformA = transB * m_frameInB;
+		m_calculatedTransformB = transA * m_frameInA;
+	}
+	m_realPivotAInW = m_calculatedTransformA.getOrigin();
+	m_realPivotBInW = m_calculatedTransformB.getOrigin();
+	m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0); // along X
+	if(m_useLinearReferenceFrameA || m_useSolveConstraintObsolete)
+	{
+		m_delta = m_realPivotBInW - m_realPivotAInW;
+	}
+	else
+	{
+		m_delta = m_realPivotAInW - m_realPivotBInW;
+	}
+	m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
+    btVector3 normalWorld;
+    int i;
+    //linear part
+    for(i = 0; i < 3; i++)
+    {
+		normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
+		m_depth[i] = m_delta.dot(normalWorld);
+    }
+}
+ 
+
+
+void btSliderConstraint::testLinLimits(void)
+{
+	m_solveLinLim = false;
+	m_linPos = m_depth[0];
+	if(m_lowerLinLimit <= m_upperLinLimit)
+	{
+		if(m_depth[0] > m_upperLinLimit)
+		{
+			m_depth[0] -= m_upperLinLimit;
+			m_solveLinLim = true;
+		}
+		else if(m_depth[0] < m_lowerLinLimit)
+		{
+			m_depth[0] -= m_lowerLinLimit;
+			m_solveLinLim = true;
+		}
+		else
+		{
+			m_depth[0] = btScalar(0.);
+		}
+	}
+	else
+	{
+		m_depth[0] = btScalar(0.);
+	}
+}
+
+
+
+void btSliderConstraint::testAngLimits(void)
+{
+	m_angDepth = btScalar(0.);
+	m_solveAngLim = false;
+	if(m_lowerAngLimit <= m_upperAngLimit)
+	{
+		const btVector3 axisA0 = m_calculatedTransformA.getBasis().getColumn(1);
+		const btVector3 axisA1 = m_calculatedTransformA.getBasis().getColumn(2);
+		const btVector3 axisB0 = m_calculatedTransformB.getBasis().getColumn(1);
+//		btScalar rot = btAtan2Fast(axisB0.dot(axisA1), axisB0.dot(axisA0));  
+		btScalar rot = btAtan2(axisB0.dot(axisA1), axisB0.dot(axisA0));  
+		rot = btAdjustAngleToLimits(rot, m_lowerAngLimit, m_upperAngLimit);
+		m_angPos = rot;
+		if(rot < m_lowerAngLimit)
+		{
+			m_angDepth = rot - m_lowerAngLimit;
+			m_solveAngLim = true;
+		} 
+		else if(rot > m_upperAngLimit)
+		{
+			m_angDepth = rot - m_upperAngLimit;
+			m_solveAngLim = true;
+		}
+	}
+}
+
+btVector3 btSliderConstraint::getAncorInA(void)
+{
+	btVector3 ancorInA;
+	ancorInA = m_realPivotAInW + (m_lowerLinLimit + m_upperLinLimit) * btScalar(0.5) * m_sliderAxis;
+	ancorInA = m_rbA.getCenterOfMassTransform().inverse() * ancorInA;
+	return ancorInA;
+}
+
+
+
+btVector3 btSliderConstraint::getAncorInB(void)
+{
+	btVector3 ancorInB;
+	ancorInB = m_frameInB.getOrigin();
+	return ancorInB;
+}
+
+
+void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB, const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass  )
+{
+	const btTransform& trA = getCalculatedTransformA();
+	const btTransform& trB = getCalculatedTransformB();
+	
+	btAssert(!m_useSolveConstraintObsolete);
+	int i, s = info->rowskip;
+	
+	btScalar signFact = m_useLinearReferenceFrameA ? btScalar(1.0f) : btScalar(-1.0f);
+	
+	// difference between frames in WCS
+	btVector3 ofs = trB.getOrigin() - trA.getOrigin();
+	// now get weight factors depending on masses
+	btScalar miA = rbAinvMass;
+	btScalar miB = rbBinvMass;
+	bool hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON);
+	btScalar miS = miA + miB;
+	btScalar factA, factB;
+	if(miS > btScalar(0.f))
+	{
+		factA = miB / miS;
+	}
+	else 
+	{
+		factA = btScalar(0.5f);
+	}
+	factB = btScalar(1.0f) - factA;
+	btVector3 ax1, p, q;
+	btVector3 ax1A = trA.getBasis().getColumn(0);
+	btVector3 ax1B = trB.getBasis().getColumn(0);
+	if(m_useOffsetForConstraintFrame)
+	{
+		// get the desired direction of slider axis
+		// as weighted sum of X-orthos of frameA and frameB in WCS
+		ax1 = ax1A * factA + ax1B * factB;
+		ax1.normalize();
+		// construct two orthos to slider axis
+		btPlaneSpace1 (ax1, p, q);
+	}
+	else
+	{ // old way - use frameA
+		ax1 = trA.getBasis().getColumn(0);
+		// get 2 orthos to slider axis (Y, Z)
+		p = trA.getBasis().getColumn(1);
+		q = trA.getBasis().getColumn(2);
+	}
+	// make rotations around these orthos equal
+	// the slider axis should be the only unconstrained
+	// rotational axis, the angular velocity of the two bodies perpendicular to
+	// the slider axis should be equal. thus the constraint equations are
+	//    p*w1 - p*w2 = 0
+	//    q*w1 - q*w2 = 0
+	// where p and q are unit vectors normal to the slider axis, and w1 and w2
+	// are the angular velocity vectors of the two bodies.
+	info->m_J1angularAxis[0] = p[0];
+	info->m_J1angularAxis[1] = p[1];
+	info->m_J1angularAxis[2] = p[2];
+	info->m_J1angularAxis[s+0] = q[0];
+	info->m_J1angularAxis[s+1] = q[1];
+	info->m_J1angularAxis[s+2] = q[2];
+
+	info->m_J2angularAxis[0] = -p[0];
+	info->m_J2angularAxis[1] = -p[1];
+	info->m_J2angularAxis[2] = -p[2];
+	info->m_J2angularAxis[s+0] = -q[0];
+	info->m_J2angularAxis[s+1] = -q[1];
+	info->m_J2angularAxis[s+2] = -q[2];
+	// compute the right hand side of the constraint equation. set relative
+	// body velocities along p and q to bring the slider back into alignment.
+	// if ax1A,ax1B are the unit length slider axes as computed from bodyA and
+	// bodyB, we need to rotate both bodies along the axis u = (ax1 x ax2).
+	// if "theta" is the angle between ax1 and ax2, we need an angular velocity
+	// along u to cover angle erp*theta in one step :
+	//   |angular_velocity| = angle/time = erp*theta / stepsize
+	//                      = (erp*fps) * theta
+	//    angular_velocity  = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
+	//                      = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
+	// ...as ax1 and ax2 are unit length. if theta is smallish,
+	// theta ~= sin(theta), so
+	//    angular_velocity  = (erp*fps) * (ax1 x ax2)
+	// ax1 x ax2 is in the plane space of ax1, so we project the angular
+	// velocity to p and q to find the right hand side.
+//	btScalar k = info->fps * info->erp * getSoftnessOrthoAng();
+	btScalar currERP = (m_flags & BT_SLIDER_FLAGS_ERP_ORTANG) ? m_softnessOrthoAng : m_softnessOrthoAng * info->erp;
+	btScalar k = info->fps * currERP;
+
+	btVector3 u = ax1A.cross(ax1B);
+	info->m_constraintError[0] = k * u.dot(p);
+	info->m_constraintError[s] = k * u.dot(q);
+	if(m_flags & BT_SLIDER_FLAGS_CFM_ORTANG)
+	{
+		info->cfm[0] = m_cfmOrthoAng;
+		info->cfm[s] = m_cfmOrthoAng;
+	}
+
+	int nrow = 1; // last filled row
+	int srow;
+	btScalar limit_err;
+	int limit;
+	int powered;
+
+	// next two rows. 
+	// we want: velA + wA x relA == velB + wB x relB ... but this would
+	// result in three equations, so we project along two orthos to the slider axis
+
+	btTransform bodyA_trans = transA;
+	btTransform bodyB_trans = transB;
+	nrow++;
+	int s2 = nrow * s;
+	nrow++;
+	int s3 = nrow * s;
+	btVector3 tmpA(0,0,0), tmpB(0,0,0), relA(0,0,0), relB(0,0,0), c(0,0,0);
+	if(m_useOffsetForConstraintFrame)
+	{
+		// get vector from bodyB to frameB in WCS
+		relB = trB.getOrigin() - bodyB_trans.getOrigin();
+		// get its projection to slider axis
+		btVector3 projB = ax1 * relB.dot(ax1);
+		// get vector directed from bodyB to slider axis (and orthogonal to it)
+		btVector3 orthoB = relB - projB;
+		// same for bodyA
+		relA = trA.getOrigin() - bodyA_trans.getOrigin();
+		btVector3 projA = ax1 * relA.dot(ax1);
+		btVector3 orthoA = relA - projA;
+		// get desired offset between frames A and B along slider axis
+		btScalar sliderOffs = m_linPos - m_depth[0];
+		// desired vector from projection of center of bodyA to projection of center of bodyB to slider axis
+		btVector3 totalDist = projA + ax1 * sliderOffs - projB;
+		// get offset vectors relA and relB
+		relA = orthoA + totalDist * factA;
+		relB = orthoB - totalDist * factB;
+		// now choose average ortho to slider axis
+		p = orthoB * factA + orthoA * factB;
+		btScalar len2 = p.length2();
+		if(len2 > SIMD_EPSILON)
+		{
+			p /= btSqrt(len2);
+		}
+		else
+		{
+			p = trA.getBasis().getColumn(1);
+		}
+		// make one more ortho
+		q = ax1.cross(p);
+		// fill two rows
+		tmpA = relA.cross(p);
+		tmpB = relB.cross(p);
+		for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = tmpA[i];
+		for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = -tmpB[i];
+		tmpA = relA.cross(q);
+		tmpB = relB.cross(q);
+		if(hasStaticBody && getSolveAngLimit())
+		{ // to make constraint between static and dynamic objects more rigid
+			// remove wA (or wB) from equation if angular limit is hit
+			tmpB *= factB;
+			tmpA *= factA;
+		}
+		for (i=0; i<3; i++) info->m_J1angularAxis[s3+i] = tmpA[i];
+		for (i=0; i<3; i++) info->m_J2angularAxis[s3+i] = -tmpB[i];
+		for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i];
+		for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i];
+	}
+	else
+	{	// old way - maybe incorrect if bodies are not on the slider axis
+		// see discussion "Bug in slider constraint" http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=4024&start=0
+		c = bodyB_trans.getOrigin() - bodyA_trans.getOrigin();
+		btVector3 tmp = c.cross(p);
+		for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = factA*tmp[i];
+		for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = factB*tmp[i];
+		tmp = c.cross(q);
+		for (i=0; i<3; i++) info->m_J1angularAxis[s3+i] = factA*tmp[i];
+		for (i=0; i<3; i++) info->m_J2angularAxis[s3+i] = factB*tmp[i];
+
+		for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i];
+		for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i];
+	}
+	// compute two elements of right hand side
+
+	//	k = info->fps * info->erp * getSoftnessOrthoLin();
+	currERP = (m_flags & BT_SLIDER_FLAGS_ERP_ORTLIN) ? m_softnessOrthoLin : m_softnessOrthoLin * info->erp;
+	k = info->fps * currERP;
+
+	btScalar rhs = k * p.dot(ofs);
+	info->m_constraintError[s2] = rhs;
+	rhs = k * q.dot(ofs);
+	info->m_constraintError[s3] = rhs;
+	if(m_flags & BT_SLIDER_FLAGS_CFM_ORTLIN)
+	{
+		info->cfm[s2] = m_cfmOrthoLin;
+		info->cfm[s3] = m_cfmOrthoLin;
+	}
+
+
+	// check linear limits
+	limit_err = btScalar(0.0);
+	limit = 0;
+	if(getSolveLinLimit())
+	{
+		limit_err = getLinDepth() *  signFact;
+		limit = (limit_err > btScalar(0.0)) ? 2 : 1;
+	}
+	powered = 0;
+	if(getPoweredLinMotor())
+	{
+		powered = 1;
+	}
+	// if the slider has joint limits or motor, add in the extra row
+	if (limit || powered) 
+	{
+		nrow++;
+		srow = nrow * info->rowskip;
+		info->m_J1linearAxis[srow+0] = ax1[0];
+		info->m_J1linearAxis[srow+1] = ax1[1];
+		info->m_J1linearAxis[srow+2] = ax1[2];
+		// linear torque decoupling step:
+		//
+		// we have to be careful that the linear constraint forces (+/- ax1) applied to the two bodies
+		// do not create a torque couple. in other words, the points that the
+		// constraint force is applied at must lie along the same ax1 axis.
+		// a torque couple will result in limited slider-jointed free
+		// bodies from gaining angular momentum.
+		if(m_useOffsetForConstraintFrame)
+		{
+			// this is needed only when bodyA and bodyB are both dynamic.
+			if(!hasStaticBody)
+			{
+				tmpA = relA.cross(ax1);
+				tmpB = relB.cross(ax1);
+				info->m_J1angularAxis[srow+0] = tmpA[0];
+				info->m_J1angularAxis[srow+1] = tmpA[1];
+				info->m_J1angularAxis[srow+2] = tmpA[2];
+				info->m_J2angularAxis[srow+0] = -tmpB[0];
+				info->m_J2angularAxis[srow+1] = -tmpB[1];
+				info->m_J2angularAxis[srow+2] = -tmpB[2];
+			}
+		}
+		else
+		{ // The old way. May be incorrect if bodies are not on the slider axis
+			btVector3 ltd;	// Linear Torque Decoupling vector (a torque)
+			ltd = c.cross(ax1);
+			info->m_J1angularAxis[srow+0] = factA*ltd[0];
+			info->m_J1angularAxis[srow+1] = factA*ltd[1];
+			info->m_J1angularAxis[srow+2] = factA*ltd[2];
+			info->m_J2angularAxis[srow+0] = factB*ltd[0];
+			info->m_J2angularAxis[srow+1] = factB*ltd[1];
+			info->m_J2angularAxis[srow+2] = factB*ltd[2];
+		}
+		// right-hand part
+		btScalar lostop = getLowerLinLimit();
+		btScalar histop = getUpperLinLimit();
+		if(limit && (lostop == histop))
+		{  // the joint motor is ineffective
+			powered = 0;
+		}
+		info->m_constraintError[srow] = 0.;
+		info->m_lowerLimit[srow] = 0.;
+		info->m_upperLimit[srow] = 0.;
+		currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMLIN) ? m_softnessLimLin : info->erp;
+		if(powered)
+		{
+			if(m_flags & BT_SLIDER_FLAGS_CFM_DIRLIN)
+			{
+				info->cfm[srow] = m_cfmDirLin;
+			}
+			btScalar tag_vel = getTargetLinMotorVelocity();
+			btScalar mot_fact = getMotorFactor(m_linPos, m_lowerLinLimit, m_upperLinLimit, tag_vel, info->fps * currERP);
+			info->m_constraintError[srow] -= signFact * mot_fact * getTargetLinMotorVelocity();
+			info->m_lowerLimit[srow] += -getMaxLinMotorForce() * info->fps;
+			info->m_upperLimit[srow] += getMaxLinMotorForce() * info->fps;
+		}
+		if(limit)
+		{
+			k = info->fps * currERP;
+			info->m_constraintError[srow] += k * limit_err;
+			if(m_flags & BT_SLIDER_FLAGS_CFM_LIMLIN)
+			{
+				info->cfm[srow] = m_cfmLimLin;
+			}
+			if(lostop == histop) 
+			{	// limited low and high simultaneously
+				info->m_lowerLimit[srow] = -SIMD_INFINITY;
+				info->m_upperLimit[srow] = SIMD_INFINITY;
+			}
+			else if(limit == 1) 
+			{ // low limit
+				info->m_lowerLimit[srow] = -SIMD_INFINITY;
+				info->m_upperLimit[srow] = 0;
+			}
+			else 
+			{ // high limit
+				info->m_lowerLimit[srow] = 0;
+				info->m_upperLimit[srow] = SIMD_INFINITY;
+			}
+			// bounce (we'll use slider parameter abs(1.0 - m_dampingLimLin) for that)
+			btScalar bounce = btFabs(btScalar(1.0) - getDampingLimLin());
+			if(bounce > btScalar(0.0))
+			{
+				btScalar vel = linVelA.dot(ax1);
+				vel -= linVelB.dot(ax1);
+				vel *= signFact;
+				// only apply bounce if the velocity is incoming, and if the
+				// resulting c[] exceeds what we already have.
+				if(limit == 1)
+				{	// low limit
+					if(vel < 0)
+					{
+						btScalar newc = -bounce * vel;
+						if (newc > info->m_constraintError[srow])
+						{
+							info->m_constraintError[srow] = newc;
+						}
+					}
+				}
+				else
+				{ // high limit - all those computations are reversed
+					if(vel > 0)
+					{
+						btScalar newc = -bounce * vel;
+						if(newc < info->m_constraintError[srow]) 
+						{
+							info->m_constraintError[srow] = newc;
+						}
+					}
+				}
+			}
+			info->m_constraintError[srow] *= getSoftnessLimLin();
+		} // if(limit)
+	} // if linear limit
+	// check angular limits
+	limit_err = btScalar(0.0);
+	limit = 0;
+	if(getSolveAngLimit())
+	{
+		limit_err = getAngDepth();
+		limit = (limit_err > btScalar(0.0)) ? 1 : 2;
+	}
+	// if the slider has joint limits, add in the extra row
+	powered = 0;
+	if(getPoweredAngMotor())
+	{
+		powered = 1;
+	}
+	if(limit || powered) 
+	{
+		nrow++;
+		srow = nrow * info->rowskip;
+		info->m_J1angularAxis[srow+0] = ax1[0];
+		info->m_J1angularAxis[srow+1] = ax1[1];
+		info->m_J1angularAxis[srow+2] = ax1[2];
+
+		info->m_J2angularAxis[srow+0] = -ax1[0];
+		info->m_J2angularAxis[srow+1] = -ax1[1];
+		info->m_J2angularAxis[srow+2] = -ax1[2];
+
+		btScalar lostop = getLowerAngLimit();
+		btScalar histop = getUpperAngLimit();
+		if(limit && (lostop == histop))
+		{  // the joint motor is ineffective
+			powered = 0;
+		}
+		currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMANG) ? m_softnessLimAng : info->erp;
+		if(powered)
+		{
+			if(m_flags & BT_SLIDER_FLAGS_CFM_DIRANG)
+			{
+				info->cfm[srow] = m_cfmDirAng;
+			}
+			btScalar mot_fact = getMotorFactor(m_angPos, m_lowerAngLimit, m_upperAngLimit, getTargetAngMotorVelocity(), info->fps * currERP);
+			info->m_constraintError[srow] = mot_fact * getTargetAngMotorVelocity();
+			info->m_lowerLimit[srow] = -getMaxAngMotorForce() * info->fps;
+			info->m_upperLimit[srow] = getMaxAngMotorForce() * info->fps;
+		}
+		if(limit)
+		{
+			k = info->fps * currERP;
+			info->m_constraintError[srow] += k * limit_err;
+			if(m_flags & BT_SLIDER_FLAGS_CFM_LIMANG)
+			{
+				info->cfm[srow] = m_cfmLimAng;
+			}
+			if(lostop == histop) 
+			{
+				// limited low and high simultaneously
+				info->m_lowerLimit[srow] = -SIMD_INFINITY;
+				info->m_upperLimit[srow] = SIMD_INFINITY;
+			}
+			else if(limit == 1) 
+			{ // low limit
+				info->m_lowerLimit[srow] = 0;
+				info->m_upperLimit[srow] = SIMD_INFINITY;
+			}
+			else 
+			{ // high limit
+				info->m_lowerLimit[srow] = -SIMD_INFINITY;
+				info->m_upperLimit[srow] = 0;
+			}
+			// bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
+			btScalar bounce = btFabs(btScalar(1.0) - getDampingLimAng());
+			if(bounce > btScalar(0.0))
+			{
+				btScalar vel = m_rbA.getAngularVelocity().dot(ax1);
+				vel -= m_rbB.getAngularVelocity().dot(ax1);
+				// only apply bounce if the velocity is incoming, and if the
+				// resulting c[] exceeds what we already have.
+				if(limit == 1)
+				{	// low limit
+					if(vel < 0)
+					{
+						btScalar newc = -bounce * vel;
+						if(newc > info->m_constraintError[srow])
+						{
+							info->m_constraintError[srow] = newc;
+						}
+					}
+				}
+				else
+				{	// high limit - all those computations are reversed
+					if(vel > 0)
+					{
+						btScalar newc = -bounce * vel;
+						if(newc < info->m_constraintError[srow])
+						{
+							info->m_constraintError[srow] = newc;
+						}
+					}
+				}
+			}
+			info->m_constraintError[srow] *= getSoftnessLimAng();
+		} // if(limit)
+	} // if angular limit or powered
+}
+
+
+///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+///If no axis is provided, it uses the default axis for this constraint.
+void btSliderConstraint::setParam(int num, btScalar value, int axis)
+{
+	switch(num)
+	{
+	case BT_CONSTRAINT_STOP_ERP :
+		if(axis < 1)
+		{
+			m_softnessLimLin = value;
+			m_flags |= BT_SLIDER_FLAGS_ERP_LIMLIN;
+		}
+		else if(axis < 3)
+		{
+			m_softnessOrthoLin = value;
+			m_flags |= BT_SLIDER_FLAGS_ERP_ORTLIN;
+		}
+		else if(axis == 3)
+		{
+			m_softnessLimAng = value;
+			m_flags |= BT_SLIDER_FLAGS_ERP_LIMANG;
+		}
+		else if(axis < 6)
+		{
+			m_softnessOrthoAng = value;
+			m_flags |= BT_SLIDER_FLAGS_ERP_ORTANG;
+		}
+		else
+		{
+			btAssertConstrParams(0);
+		}
+		break;
+	case BT_CONSTRAINT_CFM :
+		if(axis < 1)
+		{
+			m_cfmDirLin = value;
+			m_flags |= BT_SLIDER_FLAGS_CFM_DIRLIN;
+		}
+		else if(axis == 3)
+		{
+			m_cfmDirAng = value;
+			m_flags |= BT_SLIDER_FLAGS_CFM_DIRANG;
+		}
+		else
+		{
+			btAssertConstrParams(0);
+		}
+		break;
+	case BT_CONSTRAINT_STOP_CFM :
+		if(axis < 1)
+		{
+			m_cfmLimLin = value;
+			m_flags |= BT_SLIDER_FLAGS_CFM_LIMLIN;
+		}
+		else if(axis < 3)
+		{
+			m_cfmOrthoLin = value;
+			m_flags |= BT_SLIDER_FLAGS_CFM_ORTLIN;
+		}
+		else if(axis == 3)
+		{
+			m_cfmLimAng = value;
+			m_flags |= BT_SLIDER_FLAGS_CFM_LIMANG;
+		}
+		else if(axis < 6)
+		{
+			m_cfmOrthoAng = value;
+			m_flags |= BT_SLIDER_FLAGS_CFM_ORTANG;
+		}
+		else
+		{
+			btAssertConstrParams(0);
+		}
+		break;
+	}
+}
+
+///return the local value of parameter
+btScalar btSliderConstraint::getParam(int num, int axis) const 
+{
+	btScalar retVal(SIMD_INFINITY);
+	switch(num)
+	{
+	case BT_CONSTRAINT_STOP_ERP :
+		if(axis < 1)
+		{
+			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_LIMLIN);
+			retVal = m_softnessLimLin;
+		}
+		else if(axis < 3)
+		{
+			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_ORTLIN);
+			retVal = m_softnessOrthoLin;
+		}
+		else if(axis == 3)
+		{
+			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_LIMANG);
+			retVal = m_softnessLimAng;
+		}
+		else if(axis < 6)
+		{
+			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_ORTANG);
+			retVal = m_softnessOrthoAng;
+		}
+		else
+		{
+			btAssertConstrParams(0);
+		}
+		break;
+	case BT_CONSTRAINT_CFM :
+		if(axis < 1)
+		{
+			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_DIRLIN);
+			retVal = m_cfmDirLin;
+		}
+		else if(axis == 3)
+		{
+			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_DIRANG);
+			retVal = m_cfmDirAng;
+		}
+		else
+		{
+			btAssertConstrParams(0);
+		}
+		break;
+	case BT_CONSTRAINT_STOP_CFM :
+		if(axis < 1)
+		{
+			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_LIMLIN);
+			retVal = m_cfmLimLin;
+		}
+		else if(axis < 3)
+		{
+			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_ORTLIN);
+			retVal = m_cfmOrthoLin;
+		}
+		else if(axis == 3)
+		{
+			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_LIMANG);
+			retVal = m_cfmLimAng;
+		}
+		else if(axis < 6)
+		{
+			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_ORTANG);
+			retVal = m_cfmOrthoAng;
+		}
+		else
+		{
+			btAssertConstrParams(0);
+		}
+		break;
+	}
+	return retVal;
+}
+
+
+

libs/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h

@@ -0,0 +1,321 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+/*
+Added by Roman Ponomarev (rponom@gmail.com)
+April 04, 2008
+
+TODO:
+ - add clamping od accumulated impulse to improve stability
+ - add conversion for ODE constraint solver
+*/
+
+#ifndef SLIDER_CONSTRAINT_H
+#define SLIDER_CONSTRAINT_H
+
+
+
+#include "LinearMath/btVector3.h"
+#include "btJacobianEntry.h"
+#include "btTypedConstraint.h"
+
+
+
+class btRigidBody;
+
+
+
+#define SLIDER_CONSTRAINT_DEF_SOFTNESS		(btScalar(1.0))
+#define SLIDER_CONSTRAINT_DEF_DAMPING		(btScalar(1.0))
+#define SLIDER_CONSTRAINT_DEF_RESTITUTION	(btScalar(0.7))
+#define SLIDER_CONSTRAINT_DEF_CFM			(btScalar(0.f))
+
+
+enum btSliderFlags
+{
+	BT_SLIDER_FLAGS_CFM_DIRLIN = (1 << 0),
+	BT_SLIDER_FLAGS_ERP_DIRLIN = (1 << 1),
+	BT_SLIDER_FLAGS_CFM_DIRANG = (1 << 2),
+	BT_SLIDER_FLAGS_ERP_DIRANG = (1 << 3),
+	BT_SLIDER_FLAGS_CFM_ORTLIN = (1 << 4),
+	BT_SLIDER_FLAGS_ERP_ORTLIN = (1 << 5),
+	BT_SLIDER_FLAGS_CFM_ORTANG = (1 << 6),
+	BT_SLIDER_FLAGS_ERP_ORTANG = (1 << 7),
+	BT_SLIDER_FLAGS_CFM_LIMLIN = (1 << 8),
+	BT_SLIDER_FLAGS_ERP_LIMLIN = (1 << 9),
+	BT_SLIDER_FLAGS_CFM_LIMANG = (1 << 10),
+	BT_SLIDER_FLAGS_ERP_LIMANG = (1 << 11)
+};
+
+
+class btSliderConstraint : public btTypedConstraint
+{
+protected:
+	///for backwards compatibility during the transition to 'getInfo/getInfo2'
+	bool		m_useSolveConstraintObsolete;
+	bool		m_useOffsetForConstraintFrame;
+	btTransform	m_frameInA;
+    btTransform	m_frameInB;
+	// use frameA fo define limits, if true
+	bool m_useLinearReferenceFrameA;
+	// linear limits
+	btScalar m_lowerLinLimit;
+	btScalar m_upperLinLimit;
+	// angular limits
+	btScalar m_lowerAngLimit;
+	btScalar m_upperAngLimit;
+	// softness, restitution and damping for different cases
+	// DirLin - moving inside linear limits
+	// LimLin - hitting linear limit
+	// DirAng - moving inside angular limits
+	// LimAng - hitting angular limit
+	// OrthoLin, OrthoAng - against constraint axis
+	btScalar m_softnessDirLin;
+	btScalar m_restitutionDirLin;
+	btScalar m_dampingDirLin;
+	btScalar m_cfmDirLin;
+
+	btScalar m_softnessDirAng;
+	btScalar m_restitutionDirAng;
+	btScalar m_dampingDirAng;
+	btScalar m_cfmDirAng;
+
+	btScalar m_softnessLimLin;
+	btScalar m_restitutionLimLin;
+	btScalar m_dampingLimLin;
+	btScalar m_cfmLimLin;
+
+	btScalar m_softnessLimAng;
+	btScalar m_restitutionLimAng;
+	btScalar m_dampingLimAng;
+	btScalar m_cfmLimAng;
+
+	btScalar m_softnessOrthoLin;
+	btScalar m_restitutionOrthoLin;
+	btScalar m_dampingOrthoLin;
+	btScalar m_cfmOrthoLin;
+
+	btScalar m_softnessOrthoAng;
+	btScalar m_restitutionOrthoAng;
+	btScalar m_dampingOrthoAng;
+	btScalar m_cfmOrthoAng;
+	
+	// for interlal use
+	bool m_solveLinLim;
+	bool m_solveAngLim;
+
+	int m_flags;
+
+	btJacobianEntry	m_jacLin[3];
+	btScalar		m_jacLinDiagABInv[3];
+
+    btJacobianEntry	m_jacAng[3];
+
+	btScalar m_timeStep;
+    btTransform m_calculatedTransformA;
+    btTransform m_calculatedTransformB;
+
+	btVector3 m_sliderAxis;
+	btVector3 m_realPivotAInW;
+	btVector3 m_realPivotBInW;
+	btVector3 m_projPivotInW;
+	btVector3 m_delta;
+	btVector3 m_depth;
+	btVector3 m_relPosA;
+	btVector3 m_relPosB;
+
+	btScalar m_linPos;
+	btScalar m_angPos;
+
+	btScalar m_angDepth;
+	btScalar m_kAngle;
+
+	bool	 m_poweredLinMotor;
+    btScalar m_targetLinMotorVelocity;
+    btScalar m_maxLinMotorForce;
+    btScalar m_accumulatedLinMotorImpulse;
+	
+	bool	 m_poweredAngMotor;
+    btScalar m_targetAngMotorVelocity;
+    btScalar m_maxAngMotorForce;
+    btScalar m_accumulatedAngMotorImpulse;
+
+	//------------------------    
+	void initParams();
+public:
+	// constructors
+    btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
+    btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
+
+	// overrides
+
+    virtual void getInfo1 (btConstraintInfo1* info);
+
+	void getInfo1NonVirtual(btConstraintInfo1* info);
+	
+	virtual void getInfo2 (btConstraintInfo2* info);
+
+	void getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass);
+
+
+	// access
+    const btRigidBody& getRigidBodyA() const { return m_rbA; }
+    const btRigidBody& getRigidBodyB() const { return m_rbB; }
+    const btTransform & getCalculatedTransformA() const { return m_calculatedTransformA; }
+    const btTransform & getCalculatedTransformB() const { return m_calculatedTransformB; }
+    const btTransform & getFrameOffsetA() const { return m_frameInA; }
+    const btTransform & getFrameOffsetB() const { return m_frameInB; }
+    btTransform & getFrameOffsetA() { return m_frameInA; }
+    btTransform & getFrameOffsetB() { return m_frameInB; }
+    btScalar getLowerLinLimit() { return m_lowerLinLimit; }
+    void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; }
+    btScalar getUpperLinLimit() { return m_upperLinLimit; }
+    void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; }
+    btScalar getLowerAngLimit() { return m_lowerAngLimit; }
+    void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = btNormalizeAngle(lowerLimit); }
+    btScalar getUpperAngLimit() { return m_upperAngLimit; }
+    void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = btNormalizeAngle(upperLimit); }
+	bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; }
+	btScalar getSoftnessDirLin() { return m_softnessDirLin; }
+	btScalar getRestitutionDirLin() { return m_restitutionDirLin; }
+	btScalar getDampingDirLin() { return m_dampingDirLin ; }
+	btScalar getSoftnessDirAng() { return m_softnessDirAng; }
+	btScalar getRestitutionDirAng() { return m_restitutionDirAng; }
+	btScalar getDampingDirAng() { return m_dampingDirAng; }
+	btScalar getSoftnessLimLin() { return m_softnessLimLin; }
+	btScalar getRestitutionLimLin() { return m_restitutionLimLin; }
+	btScalar getDampingLimLin() { return m_dampingLimLin; }
+	btScalar getSoftnessLimAng() { return m_softnessLimAng; }
+	btScalar getRestitutionLimAng() { return m_restitutionLimAng; }
+	btScalar getDampingLimAng() { return m_dampingLimAng; }
+	btScalar getSoftnessOrthoLin() { return m_softnessOrthoLin; }
+	btScalar getRestitutionOrthoLin() { return m_restitutionOrthoLin; }
+	btScalar getDampingOrthoLin() { return m_dampingOrthoLin; }
+	btScalar getSoftnessOrthoAng() { return m_softnessOrthoAng; }
+	btScalar getRestitutionOrthoAng() { return m_restitutionOrthoAng; }
+	btScalar getDampingOrthoAng() { return m_dampingOrthoAng; }
+	void setSoftnessDirLin(btScalar softnessDirLin) { m_softnessDirLin = softnessDirLin; }
+	void setRestitutionDirLin(btScalar restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; }
+	void setDampingDirLin(btScalar dampingDirLin) { m_dampingDirLin = dampingDirLin; }
+	void setSoftnessDirAng(btScalar softnessDirAng) { m_softnessDirAng = softnessDirAng; }
+	void setRestitutionDirAng(btScalar restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; }
+	void setDampingDirAng(btScalar dampingDirAng) { m_dampingDirAng = dampingDirAng; }
+	void setSoftnessLimLin(btScalar softnessLimLin) { m_softnessLimLin = softnessLimLin; }
+	void setRestitutionLimLin(btScalar restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; }
+	void setDampingLimLin(btScalar dampingLimLin) { m_dampingLimLin = dampingLimLin; }
+	void setSoftnessLimAng(btScalar softnessLimAng) { m_softnessLimAng = softnessLimAng; }
+	void setRestitutionLimAng(btScalar restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; }
+	void setDampingLimAng(btScalar dampingLimAng) { m_dampingLimAng = dampingLimAng; }
+	void setSoftnessOrthoLin(btScalar softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; }
+	void setRestitutionOrthoLin(btScalar restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; }
+	void setDampingOrthoLin(btScalar dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; }
+	void setSoftnessOrthoAng(btScalar softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; }
+	void setRestitutionOrthoAng(btScalar restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; }
+	void setDampingOrthoAng(btScalar dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; }
+	void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; }
+	bool getPoweredLinMotor() { return m_poweredLinMotor; }
+	void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; }
+	btScalar getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; }
+	void setMaxLinMotorForce(btScalar maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; }
+	btScalar getMaxLinMotorForce() { return m_maxLinMotorForce; }
+	void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; }
+	bool getPoweredAngMotor() { return m_poweredAngMotor; }
+	void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; }
+	btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; }
+	void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; }
+	btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; }
+	btScalar getLinearPos() { return m_linPos; }
+	
+
+	// access for ODE solver
+	bool getSolveLinLimit() { return m_solveLinLim; }
+	btScalar getLinDepth() { return m_depth[0]; }
+	bool getSolveAngLimit() { return m_solveAngLim; }
+	btScalar getAngDepth() { return m_angDepth; }
+	// shared code used by ODE solver
+	void	calculateTransforms(const btTransform& transA,const btTransform& transB);
+	void	testLinLimits();
+	void	testAngLimits();
+	// access for PE Solver
+	btVector3 getAncorInA();
+	btVector3 getAncorInB();
+	// access for UseFrameOffset
+	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
+	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
+
+	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+	///If no axis is provided, it uses the default axis for this constraint.
+	virtual	void	setParam(int num, btScalar value, int axis = -1);
+	///return the local value of parameter
+	virtual	btScalar getParam(int num, int axis = -1) const;
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btSliderConstraintData
+{
+	btTypedConstraintData	m_typeConstraintData;
+	btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+	btTransformFloatData m_rbBFrame;
+	
+	float	m_linearUpperLimit;
+	float	m_linearLowerLimit;
+
+	float	m_angularUpperLimit;
+	float	m_angularLowerLimit;
+
+	int	m_useLinearReferenceFrameA;
+	int m_useOffsetForConstraintFrame;
+
+};
+
+
+SIMD_FORCE_INLINE		int	btSliderConstraint::calculateSerializeBufferSize() const
+{
+	return sizeof(btSliderConstraintData);
+}
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+
+	btSliderConstraintData* sliderData = (btSliderConstraintData*) dataBuffer;
+	btTypedConstraint::serialize(&sliderData->m_typeConstraintData,serializer);
+
+	m_frameInA.serializeFloat(sliderData->m_rbAFrame);
+	m_frameInB.serializeFloat(sliderData->m_rbBFrame);
+
+	sliderData->m_linearUpperLimit = float(m_upperLinLimit);
+	sliderData->m_linearLowerLimit = float(m_lowerLinLimit);
+
+	sliderData->m_angularUpperLimit = float(m_upperAngLimit);
+	sliderData->m_angularLowerLimit = float(m_lowerAngLimit);
+
+	sliderData->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA;
+	sliderData->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame;
+
+	return "btSliderConstraintData";
+}
+
+
+
+#endif //SLIDER_CONSTRAINT_H
+

libs/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp

@@ -0,0 +1,255 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+#include "btSolve2LinearConstraint.h"
+
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "LinearMath/btVector3.h"
+#include "btJacobianEntry.h"
+
+
+void btSolve2LinearConstraint::resolveUnilateralPairConstraint(
+												   btRigidBody* body1,
+		btRigidBody* body2,
+
+						const btMatrix3x3& world2A,
+						const btMatrix3x3& world2B,
+						
+						const btVector3& invInertiaADiag,
+						const btScalar invMassA,
+						const btVector3& linvelA,const btVector3& angvelA,
+						const btVector3& rel_posA1,
+						const btVector3& invInertiaBDiag,
+						const btScalar invMassB,
+						const btVector3& linvelB,const btVector3& angvelB,
+						const btVector3& rel_posA2,
+
+					  btScalar depthA, const btVector3& normalA, 
+					  const btVector3& rel_posB1,const btVector3& rel_posB2,
+					  btScalar depthB, const btVector3& normalB, 
+					  btScalar& imp0,btScalar& imp1)
+{
+	(void)linvelA;
+	(void)linvelB;
+	(void)angvelB;
+	(void)angvelA;
+
+
+
+	imp0 = btScalar(0.);
+	imp1 = btScalar(0.);
+
+	btScalar len = btFabs(normalA.length()) - btScalar(1.);
+	if (btFabs(len) >= SIMD_EPSILON)
+		return;
+
+	btAssert(len < SIMD_EPSILON);
+
+
+	//this jacobian entry could be re-used for all iterations
+	btJacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
+		invInertiaBDiag,invMassB);
+	btJacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
+		invInertiaBDiag,invMassB);
+	
+	//const btScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
+	//const btScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
+
+	const btScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1));
+	const btScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
+
+//	btScalar penetrationImpulse = (depth*contactTau*timeCorrection)  * massTerm;//jacDiagABInv
+	btScalar massTerm = btScalar(1.) / (invMassA + invMassB);
+
+
+	// calculate rhs (or error) terms
+	const btScalar dv0 = depthA  * m_tau * massTerm - vel0 * m_damping;
+	const btScalar dv1 = depthB  * m_tau * massTerm - vel1 * m_damping;
+
+
+	// dC/dv * dv = -C
+	
+	// jacobian * impulse = -error
+	//
+
+	//impulse = jacobianInverse * -error
+
+	// inverting 2x2 symmetric system (offdiagonal are equal!)
+	// 
+
+
+	btScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
+	btScalar	invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
+	
+	//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
+	//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
+
+	imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
+	imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
+
+	//[a b]								  [d -c]
+	//[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc)
+
+	//[jA nD] * [imp0] = [dv0]
+	//[nD jB]   [imp1]   [dv1]
+
+}
+
+
+
+void btSolve2LinearConstraint::resolveBilateralPairConstraint(
+						btRigidBody* body1,
+						btRigidBody* body2,
+						const btMatrix3x3& world2A,
+						const btMatrix3x3& world2B,
+						
+						const btVector3& invInertiaADiag,
+						const btScalar invMassA,
+						const btVector3& linvelA,const btVector3& angvelA,
+						const btVector3& rel_posA1,
+						const btVector3& invInertiaBDiag,
+						const btScalar invMassB,
+						const btVector3& linvelB,const btVector3& angvelB,
+						const btVector3& rel_posA2,
+
+					  btScalar depthA, const btVector3& normalA, 
+					  const btVector3& rel_posB1,const btVector3& rel_posB2,
+					  btScalar depthB, const btVector3& normalB, 
+					  btScalar& imp0,btScalar& imp1)
+{
+
+	(void)linvelA;
+	(void)linvelB;
+	(void)angvelA;
+	(void)angvelB;
+
+
+
+	imp0 = btScalar(0.);
+	imp1 = btScalar(0.);
+
+	btScalar len = btFabs(normalA.length()) - btScalar(1.);
+	if (btFabs(len) >= SIMD_EPSILON)
+		return;
+
+	btAssert(len < SIMD_EPSILON);
+
+
+	//this jacobian entry could be re-used for all iterations
+	btJacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
+		invInertiaBDiag,invMassB);
+	btJacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
+		invInertiaBDiag,invMassB);
+	
+	//const btScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
+	//const btScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
+
+	const btScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1));
+	const btScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
+
+	// calculate rhs (or error) terms
+	const btScalar dv0 = depthA  * m_tau - vel0 * m_damping;
+	const btScalar dv1 = depthB  * m_tau - vel1 * m_damping;
+
+	// dC/dv * dv = -C
+	
+	// jacobian * impulse = -error
+	//
+
+	//impulse = jacobianInverse * -error
+
+	// inverting 2x2 symmetric system (offdiagonal are equal!)
+	// 
+
+
+	btScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
+	btScalar	invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
+	
+	//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
+	//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
+
+	imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
+	imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
+
+	//[a b]								  [d -c]
+	//[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc)
+
+	//[jA nD] * [imp0] = [dv0]
+	//[nD jB]   [imp1]   [dv1]
+
+	if ( imp0 > btScalar(0.0))
+	{
+		if ( imp1 > btScalar(0.0) )
+		{
+			//both positive
+		}
+		else
+		{
+			imp1 = btScalar(0.);
+
+			// now imp0>0 imp1<0
+			imp0 = dv0 / jacA.getDiagonal();
+			if ( imp0 > btScalar(0.0) )
+			{
+			} else
+			{
+				imp0 = btScalar(0.);
+			}
+		}
+	}
+	else
+	{
+		imp0 = btScalar(0.);
+
+		imp1 = dv1 / jacB.getDiagonal();
+		if ( imp1 <= btScalar(0.0) )
+		{
+			imp1 = btScalar(0.);
+			// now imp0>0 imp1<0
+			imp0 = dv0 / jacA.getDiagonal();
+			if ( imp0 > btScalar(0.0) )
+			{
+			} else
+			{
+				imp0 = btScalar(0.);
+			}
+		} else
+		{
+		}
+	}
+}
+
+
+/*
+void btSolve2LinearConstraint::resolveAngularConstraint(	const btMatrix3x3& invInertiaAWS,
+											const btScalar invMassA,
+											const btVector3& linvelA,const btVector3& angvelA,
+											const btVector3& rel_posA1,
+											const btMatrix3x3& invInertiaBWS,
+											const btScalar invMassB,
+											const btVector3& linvelB,const btVector3& angvelB,
+											const btVector3& rel_posA2,
+
+											btScalar depthA, const btVector3& normalA, 
+											const btVector3& rel_posB1,const btVector3& rel_posB2,
+											btScalar depthB, const btVector3& normalB, 
+											btScalar& imp0,btScalar& imp1)
+{
+
+}
+*/
+

libs/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h

@@ -0,0 +1,107 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef SOLVE_2LINEAR_CONSTRAINT_H
+#define SOLVE_2LINEAR_CONSTRAINT_H
+
+#include "LinearMath/btMatrix3x3.h"
+#include "LinearMath/btVector3.h"
+
+
+class btRigidBody;
+
+
+
+/// constraint class used for lateral tyre friction.
+class	btSolve2LinearConstraint
+{
+	btScalar	m_tau;
+	btScalar	m_damping;
+
+public:
+
+	btSolve2LinearConstraint(btScalar tau,btScalar damping)
+	{
+		m_tau = tau;
+		m_damping = damping;
+	}
+	//
+	// solve unilateral constraint (equality, direct method)
+	//
+	void resolveUnilateralPairConstraint(		
+														   btRigidBody* body0,
+		btRigidBody* body1,
+
+		const btMatrix3x3& world2A,
+						const btMatrix3x3& world2B,
+						
+						const btVector3& invInertiaADiag,
+						const btScalar invMassA,
+						const btVector3& linvelA,const btVector3& angvelA,
+						const btVector3& rel_posA1,
+						const btVector3& invInertiaBDiag,
+						const btScalar invMassB,
+						const btVector3& linvelB,const btVector3& angvelB,
+						const btVector3& rel_posA2,
+
+					  btScalar depthA, const btVector3& normalA, 
+					  const btVector3& rel_posB1,const btVector3& rel_posB2,
+					  btScalar depthB, const btVector3& normalB, 
+					  btScalar& imp0,btScalar& imp1);
+
+
+	//
+	// solving 2x2 lcp problem (inequality, direct solution )
+	//
+	void resolveBilateralPairConstraint(
+			btRigidBody* body0,
+						btRigidBody* body1,
+		const btMatrix3x3& world2A,
+						const btMatrix3x3& world2B,
+						
+						const btVector3& invInertiaADiag,
+						const btScalar invMassA,
+						const btVector3& linvelA,const btVector3& angvelA,
+						const btVector3& rel_posA1,
+						const btVector3& invInertiaBDiag,
+						const btScalar invMassB,
+						const btVector3& linvelB,const btVector3& angvelB,
+						const btVector3& rel_posA2,
+
+					  btScalar depthA, const btVector3& normalA, 
+					  const btVector3& rel_posB1,const btVector3& rel_posB2,
+					  btScalar depthB, const btVector3& normalB, 
+					  btScalar& imp0,btScalar& imp1);
+
+/*
+	void resolveAngularConstraint(	const btMatrix3x3& invInertiaAWS,
+						const btScalar invMassA,
+						const btVector3& linvelA,const btVector3& angvelA,
+						const btVector3& rel_posA1,
+						const btMatrix3x3& invInertiaBWS,
+						const btScalar invMassB,
+						const btVector3& linvelB,const btVector3& angvelB,
+						const btVector3& rel_posA2,
+
+					  btScalar depthA, const btVector3& normalA, 
+					  const btVector3& rel_posB1,const btVector3& rel_posB2,
+					  btScalar depthB, const btVector3& normalB, 
+					  btScalar& imp0,btScalar& imp1);
+
+*/
+
+};
+
+#endif //SOLVE_2LINEAR_CONSTRAINT_H

libs/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h

@@ -0,0 +1,191 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_SOLVER_BODY_H
+#define BT_SOLVER_BODY_H
+
+class	btRigidBody;
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btMatrix3x3.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "LinearMath/btAlignedAllocator.h"
+#include "LinearMath/btTransformUtil.h"
+
+///Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later, and not double precision
+#ifdef BT_USE_SSE
+#define USE_SIMD 1
+#endif //
+
+
+#ifdef USE_SIMD
+
+struct	btSimdScalar
+{
+	SIMD_FORCE_INLINE	btSimdScalar()
+	{
+
+	}
+
+	SIMD_FORCE_INLINE	btSimdScalar(float	fl)
+	:m_vec128 (_mm_set1_ps(fl))
+	{
+	}
+
+	SIMD_FORCE_INLINE	btSimdScalar(__m128 v128)
+		:m_vec128(v128)
+	{
+	}
+	union
+	{
+		__m128		m_vec128;
+		float		m_floats[4];
+		int			m_ints[4];
+		btScalar	m_unusedPadding;
+	};
+	SIMD_FORCE_INLINE	__m128	get128()
+	{
+		return m_vec128;
+	}
+
+	SIMD_FORCE_INLINE	const __m128	get128() const
+	{
+		return m_vec128;
+	}
+
+	SIMD_FORCE_INLINE	void	set128(__m128 v128)
+	{
+		m_vec128 = v128;
+	}
+
+	SIMD_FORCE_INLINE	operator       __m128()       
+	{ 
+		return m_vec128; 
+	}
+	SIMD_FORCE_INLINE	operator const __m128() const 
+	{ 
+		return m_vec128; 
+	}
+	
+	SIMD_FORCE_INLINE	operator float() const 
+	{ 
+		return m_floats[0]; 
+	}
+
+};
+
+///@brief Return the elementwise product of two btSimdScalar
+SIMD_FORCE_INLINE btSimdScalar 
+operator*(const btSimdScalar& v1, const btSimdScalar& v2) 
+{
+	return btSimdScalar(_mm_mul_ps(v1.get128(),v2.get128()));
+}
+
+///@brief Return the elementwise product of two btSimdScalar
+SIMD_FORCE_INLINE btSimdScalar 
+operator+(const btSimdScalar& v1, const btSimdScalar& v2) 
+{
+	return btSimdScalar(_mm_add_ps(v1.get128(),v2.get128()));
+}
+
+
+#else
+#define btSimdScalar btScalar
+#endif
+
+///The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
+ATTRIBUTE_ALIGNED64 (struct)	btSolverBodyObsolete
+{
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	btVector3		m_deltaLinearVelocity;
+	btVector3		m_deltaAngularVelocity;
+	btVector3		m_angularFactor;
+	btVector3		m_invMass;
+	btRigidBody*	m_originalBody;
+	btVector3		m_pushVelocity;
+	btVector3		m_turnVelocity;
+
+	
+	SIMD_FORCE_INLINE void	getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
+	{
+		if (m_originalBody)
+			velocity = m_originalBody->getLinearVelocity()+m_deltaLinearVelocity + (m_originalBody->getAngularVelocity()+m_deltaAngularVelocity).cross(rel_pos);
+		else
+			velocity.setValue(0,0,0);
+	}
+
+	SIMD_FORCE_INLINE void	getAngularVelocity(btVector3& angVel) const
+	{
+		if (m_originalBody)
+			angVel = m_originalBody->getAngularVelocity()+m_deltaAngularVelocity;
+		else
+			angVel.setValue(0,0,0);
+	}
+
+
+	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
+	SIMD_FORCE_INLINE void applyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude)
+	{
+		//if (m_invMass)
+		{
+			m_deltaLinearVelocity += linearComponent*impulseMagnitude;
+			m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
+		}
+	}
+
+	SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
+	{
+		if (m_originalBody)
+		{
+			m_pushVelocity += linearComponent*impulseMagnitude;
+			m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
+		}
+	}
+	
+	void	writebackVelocity()
+	{
+		if (m_originalBody)
+		{
+			m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
+			m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
+			
+			//m_originalBody->setCompanionId(-1);
+		}
+	}
+
+
+	void	writebackVelocity(btScalar timeStep)
+	{
+        (void) timeStep;
+		if (m_originalBody)
+		{
+			m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
+			m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
+			
+			//correct the position/orientation based on push/turn recovery
+			btTransform newTransform;
+			btTransformUtil::integrateTransform(m_originalBody->getWorldTransform(),m_pushVelocity,m_turnVelocity,timeStep,newTransform);
+			m_originalBody->setWorldTransform(newTransform);
+			
+			//m_originalBody->setCompanionId(-1);
+		}
+	}
+	
+
+
+};
+
+#endif //BT_SOLVER_BODY_H
+
+

libs/bullet/BulletDynamics/ConstraintSolver/btSolverConstraint.h

@@ -0,0 +1,96 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_SOLVER_CONSTRAINT_H
+#define BT_SOLVER_CONSTRAINT_H
+
+class	btRigidBody;
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btMatrix3x3.h"
+#include "btJacobianEntry.h"
+
+//#define NO_FRICTION_TANGENTIALS 1
+#include "btSolverBody.h"
+
+
+///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
+ATTRIBUTE_ALIGNED64 (struct)	btSolverConstraint
+{
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	btVector3		m_relpos1CrossNormal;
+	btVector3		m_contactNormal;
+
+	btVector3		m_relpos2CrossNormal;
+	//btVector3		m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal
+
+	btVector3		m_angularComponentA;
+	btVector3		m_angularComponentB;
+	
+	mutable btSimdScalar	m_appliedPushImpulse;
+	mutable btSimdScalar	m_appliedImpulse;
+	
+	
+	btScalar	m_friction;
+	btScalar	m_jacDiagABInv;
+	union
+	{
+		int	m_numConsecutiveRowsPerKernel;
+		btScalar	m_unusedPadding0;
+	};
+
+	union
+	{
+		int			m_frictionIndex;
+		btScalar	m_unusedPadding1;
+	};
+	union
+	{
+		btRigidBody*	m_solverBodyA;
+		int				m_companionIdA;
+	};
+	union
+	{
+		btRigidBody*	m_solverBodyB;
+		int				m_companionIdB;
+	};
+	
+	union
+	{
+		void*		m_originalContactPoint;
+		btScalar	m_unusedPadding4;
+	};
+
+	btScalar		m_rhs;
+	btScalar		m_cfm;
+	btScalar		m_lowerLimit;
+	btScalar		m_upperLimit;
+
+	btScalar		m_rhsPenetration;
+
+	enum		btSolverConstraintType
+	{
+		BT_SOLVER_CONTACT_1D = 0,
+		BT_SOLVER_FRICTION_1D
+	};
+};
+
+typedef btAlignedObjectArray<btSolverConstraint>	btConstraintArray;
+
+
+#endif //BT_SOLVER_CONSTRAINT_H
+
+
+

libs/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp

@@ -0,0 +1,142 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#include "btTypedConstraint.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "LinearMath/btSerializer.h"
+
+
+#define DEFAULT_DEBUGDRAW_SIZE btScalar(0.3f)
+
+btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA)
+:btTypedObject(type),
+m_userConstraintType(-1),
+m_userConstraintId(-1),
+m_needsFeedback(false),
+m_rbA(rbA),
+m_rbB(getFixedBody()),
+m_appliedImpulse(btScalar(0.)),
+m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
+{
+}
+
+
+btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB)
+:btTypedObject(type),
+m_userConstraintType(-1),
+m_userConstraintId(-1),
+m_needsFeedback(false),
+m_rbA(rbA),
+m_rbB(rbB),
+m_appliedImpulse(btScalar(0.)),
+m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
+{
+}
+
+
+
+
+btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact)
+{
+	if(lowLim > uppLim)
+	{
+		return btScalar(1.0f);
+	}
+	else if(lowLim == uppLim)
+	{
+		return btScalar(0.0f);
+	}
+	btScalar lim_fact = btScalar(1.0f);
+	btScalar delta_max = vel / timeFact;
+	if(delta_max < btScalar(0.0f))
+	{
+		if((pos >= lowLim) && (pos < (lowLim - delta_max)))
+		{
+			lim_fact = (lowLim - pos) / delta_max;
+		}
+		else if(pos  < lowLim)
+		{
+			lim_fact = btScalar(0.0f);
+		}
+		else
+		{
+			lim_fact = btScalar(1.0f);
+		}
+	}
+	else if(delta_max > btScalar(0.0f))
+	{
+		if((pos <= uppLim) && (pos > (uppLim - delta_max)))
+		{
+			lim_fact = (uppLim - pos) / delta_max;
+		}
+		else if(pos  > uppLim)
+		{
+			lim_fact = btScalar(0.0f);
+		}
+		else
+		{
+			lim_fact = btScalar(1.0f);
+		}
+	}
+	else
+	{
+			lim_fact = btScalar(0.0f);
+	}
+	return lim_fact;
+}
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char*	btTypedConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btTypedConstraintData* tcd = (btTypedConstraintData*) dataBuffer;
+
+	tcd->m_rbA = (btRigidBodyData*)serializer->getUniquePointer(&m_rbA);
+	tcd->m_rbB = (btRigidBodyData*)serializer->getUniquePointer(&m_rbB);
+	char* name = (char*) serializer->findNameForPointer(this);
+	tcd->m_name = (char*)serializer->getUniquePointer(name);
+	if (tcd->m_name)
+	{
+		serializer->serializeName(name);
+	}
+
+	tcd->m_objectType = m_objectType;
+	tcd->m_needsFeedback = m_needsFeedback;
+	tcd->m_userConstraintId =m_userConstraintId;
+	tcd->m_userConstraintType =m_userConstraintType;
+
+	tcd->m_appliedImpulse = float(m_appliedImpulse);
+	tcd->m_dbgDrawSize = float(m_dbgDrawSize );
+
+	tcd->m_disableCollisionsBetweenLinkedBodies = false;
+
+	int i;
+	for (i=0;i<m_rbA.getNumConstraintRefs();i++)
+		if (m_rbA.getConstraintRef(i) == this)
+			tcd->m_disableCollisionsBetweenLinkedBodies = true;
+	for (i=0;i<m_rbB.getNumConstraintRefs();i++)
+		if (m_rbB.getConstraintRef(i) == this)
+			tcd->m_disableCollisionsBetweenLinkedBodies = true;
+
+	return "btTypedConstraintData";
+}
+
+btRigidBody& btTypedConstraint::getFixedBody()
+{
+	static btRigidBody s_fixed(0, 0,0);
+	s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
+	return s_fixed;
+}
+

libs/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.h

@@ -0,0 +1,315 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2010 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef TYPED_CONSTRAINT_H
+#define TYPED_CONSTRAINT_H
+
+class btRigidBody;
+#include "LinearMath/btScalar.h"
+#include "btSolverConstraint.h"
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+
+class btSerializer;
+
+enum btTypedConstraintType
+{
+	POINT2POINT_CONSTRAINT_TYPE=MAX_CONTACT_MANIFOLD_TYPE+1,
+	HINGE_CONSTRAINT_TYPE,
+	CONETWIST_CONSTRAINT_TYPE,
+	D6_CONSTRAINT_TYPE,
+	SLIDER_CONSTRAINT_TYPE,
+	CONTACT_CONSTRAINT_TYPE
+};
+
+
+enum btConstraintParams
+{
+	BT_CONSTRAINT_ERP=1,
+	BT_CONSTRAINT_STOP_ERP,
+	BT_CONSTRAINT_CFM,
+	BT_CONSTRAINT_STOP_CFM
+};
+
+#if 1
+	#define btAssertConstrParams(_par) btAssert(_par) 
+#else
+	#define btAssertConstrParams(_par)
+#endif
+
+
+///TypedConstraint is the baseclass for Bullet constraints and vehicles
+class btTypedConstraint : public btTypedObject
+{
+	int	m_userConstraintType;
+
+	union
+	{
+		int	m_userConstraintId;
+		void* m_userConstraintPtr;
+	};
+
+	bool m_needsFeedback;
+
+	btTypedConstraint&	operator=(btTypedConstraint&	other)
+	{
+		btAssert(0);
+		(void) other;
+		return *this;
+	}
+
+protected:
+	btRigidBody&	m_rbA;
+	btRigidBody&	m_rbB;
+	btScalar	m_appliedImpulse;
+	btScalar	m_dbgDrawSize;
+
+	///internal method used by the constraint solver, don't use them directly
+	btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact);
+	
+	static btRigidBody& getFixedBody();
+
+public:
+
+	virtual ~btTypedConstraint() {};
+	btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA);
+	btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB);
+
+	struct btConstraintInfo1 {
+		int m_numConstraintRows,nub;
+	};
+
+	struct btConstraintInfo2 {
+		// integrator parameters: frames per second (1/stepsize), default error
+		// reduction parameter (0..1).
+		btScalar fps,erp;
+
+		// for the first and second body, pointers to two (linear and angular)
+		// n*3 jacobian sub matrices, stored by rows. these matrices will have
+		// been initialized to 0 on entry. if the second body is zero then the
+		// J2xx pointers may be 0.
+		btScalar *m_J1linearAxis,*m_J1angularAxis,*m_J2linearAxis,*m_J2angularAxis;
+
+		// elements to jump from one row to the next in J's
+		int rowskip;
+
+		// right hand sides of the equation J*v = c + cfm * lambda. cfm is the
+		// "constraint force mixing" vector. c is set to zero on entry, cfm is
+		// set to a constant value (typically very small or zero) value on entry.
+		btScalar *m_constraintError,*cfm;
+
+		// lo and hi limits for variables (set to -/+ infinity on entry).
+		btScalar *m_lowerLimit,*m_upperLimit;
+
+		// findex vector for variables. see the LCP solver interface for a
+		// description of what this does. this is set to -1 on entry.
+		// note that the returned indexes are relative to the first index of
+		// the constraint.
+		int *findex;
+		// number of solver iterations
+		int m_numIterations;
+
+		//damping of the velocity
+		btScalar	m_damping;
+	};
+
+	///internal method used by the constraint solver, don't use them directly
+	virtual void	buildJacobian() {};
+
+	///internal method used by the constraint solver, don't use them directly
+	virtual	void	setupSolverConstraint(btConstraintArray& ca, int solverBodyA,int solverBodyB, btScalar timeStep)
+	{
+        (void)ca;
+        (void)solverBodyA;
+        (void)solverBodyB;
+        (void)timeStep;
+	}
+	
+	///internal method used by the constraint solver, don't use them directly
+	virtual void getInfo1 (btConstraintInfo1* info)=0;
+
+	///internal method used by the constraint solver, don't use them directly
+	virtual void getInfo2 (btConstraintInfo2* info)=0;
+
+	///internal method used by the constraint solver, don't use them directly
+	void	internalSetAppliedImpulse(btScalar appliedImpulse)
+	{
+		m_appliedImpulse = appliedImpulse;
+	}
+	///internal method used by the constraint solver, don't use them directly
+	btScalar	internalGetAppliedImpulse()
+	{
+		return m_appliedImpulse;
+	}
+
+	///internal method used by the constraint solver, don't use them directly
+	virtual	void	solveConstraintObsolete(btRigidBody& /*bodyA*/,btRigidBody& /*bodyB*/,btScalar	/*timeStep*/) {};
+
+	
+	const btRigidBody& getRigidBodyA() const
+	{
+		return m_rbA;
+	}
+	const btRigidBody& getRigidBodyB() const
+	{
+		return m_rbB;
+	}
+
+	btRigidBody& getRigidBodyA() 
+	{
+		return m_rbA;
+	}
+	btRigidBody& getRigidBodyB()
+	{
+		return m_rbB;
+	}
+
+	int getUserConstraintType() const
+	{
+		return m_userConstraintType ;
+	}
+
+	void	setUserConstraintType(int userConstraintType)
+	{
+		m_userConstraintType = userConstraintType;
+	};
+
+	void	setUserConstraintId(int uid)
+	{
+		m_userConstraintId = uid;
+	}
+
+	int getUserConstraintId() const
+	{
+		return m_userConstraintId;
+	}
+
+	void	setUserConstraintPtr(void* ptr)
+	{
+		m_userConstraintPtr = ptr;
+	}
+
+	void*	getUserConstraintPtr()
+	{
+		return m_userConstraintPtr;
+	}
+
+	int getUid() const
+	{
+		return m_userConstraintId;   
+	} 
+
+	bool	needsFeedback() const
+	{
+		return m_needsFeedback;
+	}
+
+	///enableFeedback will allow to read the applied linear and angular impulse
+	///use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information
+	void	enableFeedback(bool needsFeedback)
+	{
+		m_needsFeedback = needsFeedback;
+	}
+
+	///getAppliedImpulse is an estimated total applied impulse. 
+	///This feedback could be used to determine breaking constraints or playing sounds.
+	btScalar	getAppliedImpulse() const
+	{
+		btAssert(m_needsFeedback);
+		return m_appliedImpulse;
+	}
+
+	btTypedConstraintType getConstraintType () const
+	{
+		return btTypedConstraintType(m_objectType);
+	}
+	
+	void setDbgDrawSize(btScalar dbgDrawSize)
+	{
+		m_dbgDrawSize = dbgDrawSize;
+	}
+	btScalar getDbgDrawSize()
+	{
+		return m_dbgDrawSize;
+	}
+
+	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+	///If no axis is provided, it uses the default axis for this constraint.
+	virtual	void	setParam(int num, btScalar value, int axis = -1) = 0;
+
+	///return the local value of parameter
+	virtual	btScalar getParam(int num, int axis = -1) const = 0;
+	
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+};
+
+// returns angle in range [-SIMD_2_PI, SIMD_2_PI], closest to one of the limits 
+// all arguments should be normalized angles (i.e. in range [-SIMD_PI, SIMD_PI])
+SIMD_FORCE_INLINE btScalar btAdjustAngleToLimits(btScalar angleInRadians, btScalar angleLowerLimitInRadians, btScalar angleUpperLimitInRadians)
+{
+	if(angleLowerLimitInRadians >= angleUpperLimitInRadians)
+	{
+		return angleInRadians;
+	}
+	else if(angleInRadians < angleLowerLimitInRadians)
+	{
+		btScalar diffLo = btFabs(btNormalizeAngle(angleLowerLimitInRadians - angleInRadians));
+		btScalar diffHi = btFabs(btNormalizeAngle(angleUpperLimitInRadians - angleInRadians));
+		return (diffLo < diffHi) ? angleInRadians : (angleInRadians + SIMD_2_PI);
+	}
+	else if(angleInRadians > angleUpperLimitInRadians)
+	{
+		btScalar diffHi = btFabs(btNormalizeAngle(angleInRadians - angleUpperLimitInRadians));
+		btScalar diffLo = btFabs(btNormalizeAngle(angleInRadians - angleLowerLimitInRadians));
+		return (diffLo < diffHi) ? (angleInRadians - SIMD_2_PI) : angleInRadians;
+	}
+	else
+	{
+		return angleInRadians;
+	}
+}
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btTypedConstraintData
+{
+	btRigidBodyData		*m_rbA;
+	btRigidBodyData		*m_rbB;
+	char	*m_name;
+
+	int	m_objectType;
+	int	m_userConstraintType;
+	int	m_userConstraintId;
+	int	m_needsFeedback;
+
+	float	m_appliedImpulse;
+	float	m_dbgDrawSize;
+
+	int	m_disableCollisionsBetweenLinkedBodies;
+	char	m_pad4[4];
+	
+};
+
+SIMD_FORCE_INLINE	int	btTypedConstraint::calculateSerializeBufferSize() const
+{
+	return sizeof(btTypedConstraintData);
+}
+
+
+
+
+#endif //TYPED_CONSTRAINT_H

libs/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp

@@ -0,0 +1,63 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+#include "btUniversalConstraint.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "LinearMath/btTransformUtil.h"
+
+
+
+#define UNIV_EPS btScalar(0.01f)
+
+
+// constructor
+// anchor, axis1 and axis2 are in world coordinate system
+// axis1 must be orthogonal to axis2
+btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
+: btGeneric6DofConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
+ m_anchor(anchor),
+ m_axis1(axis1),
+ m_axis2(axis2)
+{
+	// build frame basis
+	// 6DOF constraint uses Euler angles and to define limits
+	// it is assumed that rotational order is :
+	// Z - first, allowed limits are (-PI,PI);
+	// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number 
+	// used to prevent constraint from instability on poles;
+	// new position of X, allowed limits are (-PI,PI);
+	// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
+	// Build the frame in world coordinate system first
+	btVector3 zAxis = axis1.normalize();
+	btVector3 yAxis = axis2.normalize();
+	btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
+	btTransform frameInW;
+	frameInW.setIdentity();
+	frameInW.getBasis().setValue(	xAxis[0], yAxis[0], zAxis[0],	
+									xAxis[1], yAxis[1], zAxis[1],
+									xAxis[2], yAxis[2], zAxis[2]);
+	frameInW.setOrigin(anchor);
+	// now get constraint frame in local coordinate systems
+	m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
+	m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW;
+	// sei limits
+	setLinearLowerLimit(btVector3(0., 0., 0.));
+	setLinearUpperLimit(btVector3(0., 0., 0.));
+	setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI + UNIV_EPS, -SIMD_PI + UNIV_EPS));
+	setAngularUpperLimit(btVector3(0.f,  SIMD_HALF_PI - UNIV_EPS,  SIMD_PI - UNIV_EPS));
+}
+

libs/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h

@@ -0,0 +1,60 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef UNIVERSAL_CONSTRAINT_H
+#define UNIVERSAL_CONSTRAINT_H
+
+
+
+#include "LinearMath/btVector3.h"
+#include "btTypedConstraint.h"
+#include "btGeneric6DofConstraint.h"
+
+
+
+/// Constraint similar to ODE Universal Joint
+/// has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1)
+/// and Y (axis 2)
+/// Description from ODE manual : 
+/// "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular. 
+/// In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal."
+
+class btUniversalConstraint : public btGeneric6DofConstraint
+{
+protected:
+	btVector3	m_anchor;
+	btVector3	m_axis1;
+	btVector3	m_axis2;
+public:
+	// constructor
+	// anchor, axis1 and axis2 are in world coordinate system
+	// axis1 must be orthogonal to axis2
+    btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2);
+	// access
+	const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
+	const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
+	const btVector3& getAxis1() { return m_axis1; }
+	const btVector3& getAxis2() { return m_axis2; }
+	btScalar getAngle1() { return getAngle(2); }
+	btScalar getAngle2() { return getAngle(1); }
+	// limits
+	void setUpperLimit(btScalar ang1max, btScalar ang2max) { setAngularUpperLimit(btVector3(0.f, ang1max, ang2max)); }
+	void setLowerLimit(btScalar ang1min, btScalar ang2min) { setAngularLowerLimit(btVector3(0.f, ang1min, ang2min)); }
+};
+
+
+
+#endif // UNIVERSAL_CONSTRAINT_H
+