ruby-bullet 0.0.2-x86-mingw32

data/deps/include/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp

@@ -0,0 +1,1078 @@
+/*
+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.
+*/
+/*
+2007-09-09
+Refactored by Francisco Le?n
+email: projectileman@yahoo.com
+http://gimpact.sf.net
+*/
+
+#include "btGeneric6DofConstraint.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "LinearMath/btTransformUtil.h"
+#include "LinearMath/btTransformUtil.h"
+#include <new>
+
+
+
+#define D6_USE_OBSOLETE_METHOD false
+#define D6_USE_FRAME_OFFSET true
+
+
+
+
+
+
+btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
+: btTypedConstraint(D6_CONSTRAINT_TYPE, rbA, rbB)
+, m_frameInA(frameInA)
+, m_frameInB(frameInB),
+m_useLinearReferenceFrameA(useLinearReferenceFrameA),
+m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET),
+m_flags(0),
+m_useSolveConstraintObsolete(D6_USE_OBSOLETE_METHOD)
+{
+	calculateTransforms();
+}
+
+
+
+btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
+        : btTypedConstraint(D6_CONSTRAINT_TYPE, getFixedBody(), rbB),
+		m_frameInB(frameInB),
+		m_useLinearReferenceFrameA(useLinearReferenceFrameB),
+		m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET),
+		m_flags(0),
+		m_useSolveConstraintObsolete(false)
+{
+	///not providing rigidbody A means implicitly using worldspace for body A
+	m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
+	calculateTransforms();
+}
+
+
+
+
+#define GENERIC_D6_DISABLE_WARMSTARTING 1
+
+
+
+btScalar btGetMatrixElem(const btMatrix3x3& mat, int index);
+btScalar btGetMatrixElem(const btMatrix3x3& mat, int index)
+{
+	int i = index%3;
+	int j = index/3;
+	return mat[i][j];
+}
+
+
+
+///MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html
+bool	matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz);
+bool	matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz)
+{
+	//	// rot =  cy*cz          -cy*sz           sy
+	//	//        cz*sx*sy+cx*sz  cx*cz-sx*sy*sz -cy*sx
+	//	//       -cx*cz*sy+sx*sz  cz*sx+cx*sy*sz  cx*cy
+	//
+
+	btScalar fi = btGetMatrixElem(mat,2);
+	if (fi < btScalar(1.0f))
+	{
+		if (fi > btScalar(-1.0f))
+		{
+			xyz[0] = btAtan2(-btGetMatrixElem(mat,5),btGetMatrixElem(mat,8));
+			xyz[1] = btAsin(btGetMatrixElem(mat,2));
+			xyz[2] = btAtan2(-btGetMatrixElem(mat,1),btGetMatrixElem(mat,0));
+			return true;
+		}
+		else
+		{
+			// WARNING.  Not unique.  XA - ZA = -atan2(r10,r11)
+			xyz[0] = -btAtan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
+			xyz[1] = -SIMD_HALF_PI;
+			xyz[2] = btScalar(0.0);
+			return false;
+		}
+	}
+	else
+	{
+		// WARNING.  Not unique.  XAngle + ZAngle = atan2(r10,r11)
+		xyz[0] = btAtan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
+		xyz[1] = SIMD_HALF_PI;
+		xyz[2] = 0.0;
+	}
+	return false;
+}
+
+//////////////////////////// btRotationalLimitMotor ////////////////////////////////////
+
+int btRotationalLimitMotor::testLimitValue(btScalar test_value)
+{
+	if(m_loLimit>m_hiLimit)
+	{
+		m_currentLimit = 0;//Free from violation
+		return 0;
+	}
+	if (test_value < m_loLimit)
+	{
+		m_currentLimit = 1;//low limit violation
+		m_currentLimitError =  test_value - m_loLimit;
+		if(m_currentLimitError>SIMD_PI) 
+			m_currentLimitError-=SIMD_2_PI;
+		else if(m_currentLimitError<-SIMD_PI) 
+			m_currentLimitError+=SIMD_2_PI;
+		return 1;
+	}
+	else if (test_value> m_hiLimit)
+	{
+		m_currentLimit = 2;//High limit violation
+		m_currentLimitError = test_value - m_hiLimit;
+		if(m_currentLimitError>SIMD_PI) 
+			m_currentLimitError-=SIMD_2_PI;
+		else if(m_currentLimitError<-SIMD_PI) 
+			m_currentLimitError+=SIMD_2_PI;
+		return 2;
+	};
+
+	m_currentLimit = 0;//Free from violation
+	return 0;
+
+}
+
+
+
+btScalar btRotationalLimitMotor::solveAngularLimits(
+	btScalar timeStep,btVector3& axis,btScalar jacDiagABInv,
+	btRigidBody * body0, btRigidBody * body1 )
+{
+	if (needApplyTorques()==false) return 0.0f;
+
+	btScalar target_velocity = m_targetVelocity;
+	btScalar maxMotorForce = m_maxMotorForce;
+
+	//current error correction
+	if (m_currentLimit!=0)
+	{
+		target_velocity = -m_stopERP*m_currentLimitError/(timeStep);
+		maxMotorForce = m_maxLimitForce;
+	}
+
+	maxMotorForce *= timeStep;
+
+	// current velocity difference
+
+	btVector3 angVelA;
+	body0->internalGetAngularVelocity(angVelA);
+	btVector3 angVelB;
+	body1->internalGetAngularVelocity(angVelB);
+
+	btVector3 vel_diff;
+	vel_diff = angVelA-angVelB;
+
+
+
+	btScalar rel_vel = axis.dot(vel_diff);
+
+	// correction velocity
+	btScalar motor_relvel = m_limitSoftness*(target_velocity  - m_damping*rel_vel);
+
+
+	if ( motor_relvel < SIMD_EPSILON && motor_relvel > -SIMD_EPSILON  )
+	{
+		return 0.0f;//no need for applying force
+	}
+
+
+	// correction impulse
+	btScalar unclippedMotorImpulse = (1+m_bounce)*motor_relvel*jacDiagABInv;
+
+	// clip correction impulse
+	btScalar clippedMotorImpulse;
+
+	///@todo: should clip against accumulated impulse
+	if (unclippedMotorImpulse>0.0f)
+	{
+		clippedMotorImpulse =  unclippedMotorImpulse > maxMotorForce? maxMotorForce: unclippedMotorImpulse;
+	}
+	else
+	{
+		clippedMotorImpulse =  unclippedMotorImpulse < -maxMotorForce ? -maxMotorForce: unclippedMotorImpulse;
+	}
+
+
+	// sort with accumulated impulses
+	btScalar	lo = btScalar(-BT_LARGE_FLOAT);
+	btScalar	hi = btScalar(BT_LARGE_FLOAT);
+
+	btScalar oldaccumImpulse = m_accumulatedImpulse;
+	btScalar sum = oldaccumImpulse + clippedMotorImpulse;
+	m_accumulatedImpulse = sum > hi ? btScalar(0.) : sum < lo ? btScalar(0.) : sum;
+
+	clippedMotorImpulse = m_accumulatedImpulse - oldaccumImpulse;
+
+	btVector3 motorImp = clippedMotorImpulse * axis;
+
+	//body0->applyTorqueImpulse(motorImp);
+	//body1->applyTorqueImpulse(-motorImp);
+
+	body0->internalApplyImpulse(btVector3(0,0,0), body0->getInvInertiaTensorWorld()*axis,clippedMotorImpulse);
+	body1->internalApplyImpulse(btVector3(0,0,0), body1->getInvInertiaTensorWorld()*axis,-clippedMotorImpulse);
+
+
+	return clippedMotorImpulse;
+
+
+}
+
+//////////////////////////// End btRotationalLimitMotor ////////////////////////////////////
+
+
+
+
+//////////////////////////// btTranslationalLimitMotor ////////////////////////////////////
+
+
+int btTranslationalLimitMotor::testLimitValue(int limitIndex, btScalar test_value)
+{
+	btScalar loLimit = m_lowerLimit[limitIndex];
+	btScalar hiLimit = m_upperLimit[limitIndex];
+	if(loLimit > hiLimit)
+	{
+		m_currentLimit[limitIndex] = 0;//Free from violation
+		m_currentLimitError[limitIndex] = btScalar(0.f);
+		return 0;
+	}
+
+	if (test_value < loLimit)
+	{
+		m_currentLimit[limitIndex] = 2;//low limit violation
+		m_currentLimitError[limitIndex] =  test_value - loLimit;
+		return 2;
+	}
+	else if (test_value> hiLimit)
+	{
+		m_currentLimit[limitIndex] = 1;//High limit violation
+		m_currentLimitError[limitIndex] = test_value - hiLimit;
+		return 1;
+	};
+
+	m_currentLimit[limitIndex] = 0;//Free from violation
+	m_currentLimitError[limitIndex] = btScalar(0.f);
+	return 0;
+}
+
+
+
+btScalar btTranslationalLimitMotor::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)
+{
+
+	///find relative velocity
+	//    btVector3 rel_pos1 = pointInA - body1.getCenterOfMassPosition();
+	//    btVector3 rel_pos2 = pointInB - body2.getCenterOfMassPosition();
+	btVector3 rel_pos1 = anchorPos - body1.getCenterOfMassPosition();
+	btVector3 rel_pos2 = anchorPos - body2.getCenterOfMassPosition();
+
+	btVector3 vel1;
+	body1.internalGetVelocityInLocalPointObsolete(rel_pos1,vel1);
+	btVector3 vel2;
+	body2.internalGetVelocityInLocalPointObsolete(rel_pos2,vel2);
+	btVector3 vel = vel1 - vel2;
+
+	btScalar rel_vel = axis_normal_on_a.dot(vel);
+
+
+
+	/// apply displacement correction
+
+	//positional error (zeroth order error)
+	btScalar depth = -(pointInA - pointInB).dot(axis_normal_on_a);
+	btScalar	lo = btScalar(-BT_LARGE_FLOAT);
+	btScalar	hi = btScalar(BT_LARGE_FLOAT);
+
+	btScalar minLimit = m_lowerLimit[limit_index];
+	btScalar maxLimit = m_upperLimit[limit_index];
+
+	//handle the limits
+	if (minLimit < maxLimit)
+	{
+		{
+			if (depth > maxLimit)
+			{
+				depth -= maxLimit;
+				lo = btScalar(0.);
+
+			}
+			else
+			{
+				if (depth < minLimit)
+				{
+					depth -= minLimit;
+					hi = btScalar(0.);
+				}
+				else
+				{
+					return 0.0f;
+				}
+			}
+		}
+	}
+
+	btScalar normalImpulse= m_limitSoftness*(m_restitution*depth/timeStep - m_damping*rel_vel) * jacDiagABInv;
+
+
+
+
+	btScalar oldNormalImpulse = m_accumulatedImpulse[limit_index];
+	btScalar sum = oldNormalImpulse + normalImpulse;
+	m_accumulatedImpulse[limit_index] = sum > hi ? btScalar(0.) : sum < lo ? btScalar(0.) : sum;
+	normalImpulse = m_accumulatedImpulse[limit_index] - oldNormalImpulse;
+
+	btVector3 impulse_vector = axis_normal_on_a * normalImpulse;
+	//body1.applyImpulse( impulse_vector, rel_pos1);
+	//body2.applyImpulse(-impulse_vector, rel_pos2);
+
+	btVector3 ftorqueAxis1 = rel_pos1.cross(axis_normal_on_a);
+	btVector3 ftorqueAxis2 = rel_pos2.cross(axis_normal_on_a);
+	body1.internalApplyImpulse(axis_normal_on_a*body1.getInvMass(), body1.getInvInertiaTensorWorld()*ftorqueAxis1,normalImpulse);
+	body2.internalApplyImpulse(axis_normal_on_a*body2.getInvMass(), body2.getInvInertiaTensorWorld()*ftorqueAxis2,-normalImpulse);
+
+
+
+
+	return normalImpulse;
+}
+
+//////////////////////////// btTranslationalLimitMotor ////////////////////////////////////
+
+void btGeneric6DofConstraint::calculateAngleInfo()
+{
+	btMatrix3x3 relative_frame = m_calculatedTransformA.getBasis().inverse()*m_calculatedTransformB.getBasis();
+	matrixToEulerXYZ(relative_frame,m_calculatedAxisAngleDiff);
+	// in euler angle mode we do not actually constrain the angular velocity
+	// along the axes axis[0] and axis[2] (although we do use axis[1]) :
+	//
+	//    to get			constrain w2-w1 along		...not
+	//    ------			---------------------		------
+	//    d(angle[0])/dt = 0	ax[1] x ax[2]			ax[0]
+	//    d(angle[1])/dt = 0	ax[1]
+	//    d(angle[2])/dt = 0	ax[0] x ax[1]			ax[2]
+	//
+	// constraining w2-w1 along an axis 'a' means that a'*(w2-w1)=0.
+	// to prove the result for angle[0], write the expression for angle[0] from
+	// GetInfo1 then take the derivative. to prove this for angle[2] it is
+	// easier to take the euler rate expression for d(angle[2])/dt with respect
+	// to the components of w and set that to 0.
+	btVector3 axis0 = m_calculatedTransformB.getBasis().getColumn(0);
+	btVector3 axis2 = m_calculatedTransformA.getBasis().getColumn(2);
+
+	m_calculatedAxis[1] = axis2.cross(axis0);
+	m_calculatedAxis[0] = m_calculatedAxis[1].cross(axis2);
+	m_calculatedAxis[2] = axis0.cross(m_calculatedAxis[1]);
+
+	m_calculatedAxis[0].normalize();
+	m_calculatedAxis[1].normalize();
+	m_calculatedAxis[2].normalize();
+
+}
+
+void btGeneric6DofConstraint::calculateTransforms()
+{
+	calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+}
+
+void btGeneric6DofConstraint::calculateTransforms(const btTransform& transA,const btTransform& transB)
+{
+	m_calculatedTransformA = transA * m_frameInA;
+	m_calculatedTransformB = transB * m_frameInB;
+	calculateLinearInfo();
+	calculateAngleInfo();
+	if(m_useOffsetForConstraintFrame)
+	{	//  get weight factors depending on masses
+		btScalar miA = getRigidBodyA().getInvMass();
+		btScalar miB = getRigidBodyB().getInvMass();
+		m_hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON);
+		btScalar miS = miA + miB;
+		if(miS > btScalar(0.f))
+		{
+			m_factA = miB / miS;
+		}
+		else 
+		{
+			m_factA = btScalar(0.5f);
+		}
+		m_factB = btScalar(1.0f) - m_factA;
+	}
+}
+
+
+
+void btGeneric6DofConstraint::buildLinearJacobian(
+	btJacobianEntry & jacLinear,const btVector3 & normalWorld,
+	const btVector3 & pivotAInW,const btVector3 & pivotBInW)
+{
+	new (&jacLinear) btJacobianEntry(
+        m_rbA.getCenterOfMassTransform().getBasis().transpose(),
+        m_rbB.getCenterOfMassTransform().getBasis().transpose(),
+        pivotAInW - m_rbA.getCenterOfMassPosition(),
+        pivotBInW - m_rbB.getCenterOfMassPosition(),
+        normalWorld,
+        m_rbA.getInvInertiaDiagLocal(),
+        m_rbA.getInvMass(),
+        m_rbB.getInvInertiaDiagLocal(),
+        m_rbB.getInvMass());
+}
+
+
+
+void btGeneric6DofConstraint::buildAngularJacobian(
+	btJacobianEntry & jacAngular,const btVector3 & jointAxisW)
+{
+	 new (&jacAngular)	btJacobianEntry(jointAxisW,
+                                      m_rbA.getCenterOfMassTransform().getBasis().transpose(),
+                                      m_rbB.getCenterOfMassTransform().getBasis().transpose(),
+                                      m_rbA.getInvInertiaDiagLocal(),
+                                      m_rbB.getInvInertiaDiagLocal());
+
+}
+
+
+
+bool btGeneric6DofConstraint::testAngularLimitMotor(int axis_index)
+{
+	btScalar angle = m_calculatedAxisAngleDiff[axis_index];
+	angle = btAdjustAngleToLimits(angle, m_angularLimits[axis_index].m_loLimit, m_angularLimits[axis_index].m_hiLimit);
+	m_angularLimits[axis_index].m_currentPosition = angle;
+	//test limits
+	m_angularLimits[axis_index].testLimitValue(angle);
+	return m_angularLimits[axis_index].needApplyTorques();
+}
+
+
+
+void btGeneric6DofConstraint::buildJacobian()
+{
+#ifndef __SPU__
+	if (m_useSolveConstraintObsolete)
+	{
+
+		// Clear accumulated impulses for the next simulation step
+		m_linearLimits.m_accumulatedImpulse.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
+		int i;
+		for(i = 0; i < 3; i++)
+		{
+			m_angularLimits[i].m_accumulatedImpulse = btScalar(0.);
+		}
+		//calculates transform
+		calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+
+		//  const btVector3& pivotAInW = m_calculatedTransformA.getOrigin();
+		//  const btVector3& pivotBInW = m_calculatedTransformB.getOrigin();
+		calcAnchorPos();
+		btVector3 pivotAInW = m_AnchorPos;
+		btVector3 pivotBInW = m_AnchorPos;
+
+		// not used here
+		//    btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition();
+		//    btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
+
+		btVector3 normalWorld;
+		//linear part
+		for (i=0;i<3;i++)
+		{
+			if (m_linearLimits.isLimited(i))
+			{
+				if (m_useLinearReferenceFrameA)
+					normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
+				else
+					normalWorld = m_calculatedTransformB.getBasis().getColumn(i);
+
+				buildLinearJacobian(
+					m_jacLinear[i],normalWorld ,
+					pivotAInW,pivotBInW);
+
+			}
+		}
+
+		// angular part
+		for (i=0;i<3;i++)
+		{
+			//calculates error angle
+			if (testAngularLimitMotor(i))
+			{
+				normalWorld = this->getAxis(i);
+				// Create angular atom
+				buildAngularJacobian(m_jacAng[i],normalWorld);
+			}
+		}
+
+	}
+#endif //__SPU__
+
+}
+
+
+void btGeneric6DofConstraint::getInfo1 (btConstraintInfo1* info)
+{
+	if (m_useSolveConstraintObsolete)
+	{
+		info->m_numConstraintRows = 0;
+		info->nub = 0;
+	} else
+	{
+		//prepare constraint
+		calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+		info->m_numConstraintRows = 0;
+		info->nub = 6;
+		int i;
+		//test linear limits
+		for(i = 0; i < 3; i++)
+		{
+			if(m_linearLimits.needApplyForce(i))
+			{
+				info->m_numConstraintRows++;
+				info->nub--;
+			}
+		}
+		//test angular limits
+		for (i=0;i<3 ;i++ )
+		{
+			if(testAngularLimitMotor(i))
+			{
+				info->m_numConstraintRows++;
+				info->nub--;
+			}
+		}
+	}
+}
+
+void btGeneric6DofConstraint::getInfo1NonVirtual (btConstraintInfo1* info)
+{
+	if (m_useSolveConstraintObsolete)
+	{
+		info->m_numConstraintRows = 0;
+		info->nub = 0;
+	} else
+	{
+		//pre-allocate all 6
+		info->m_numConstraintRows = 6;
+		info->nub = 0;
+	}
+}
+
+
+void btGeneric6DofConstraint::getInfo2 (btConstraintInfo2* info)
+{
+	btAssert(!m_useSolveConstraintObsolete);
+
+	const btTransform& transA = m_rbA.getCenterOfMassTransform();
+	const btTransform& transB = m_rbB.getCenterOfMassTransform();
+	const btVector3& linVelA = m_rbA.getLinearVelocity();
+	const btVector3& linVelB = m_rbB.getLinearVelocity();
+	const btVector3& angVelA = m_rbA.getAngularVelocity();
+	const btVector3& angVelB = m_rbB.getAngularVelocity();
+
+	if(m_useOffsetForConstraintFrame)
+	{ // for stability better to solve angular limits first
+		int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);
+		setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB);
+	}
+	else
+	{ // leave old version for compatibility
+		int row = setLinearLimits(info, 0, transA,transB,linVelA,linVelB,angVelA,angVelB);
+		setAngularLimits(info, row,transA,transB,linVelA,linVelB,angVelA,angVelB);
+	}
+
+}
+
+
+void btGeneric6DofConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB)
+{
+	
+	btAssert(!m_useSolveConstraintObsolete);
+	//prepare constraint
+	calculateTransforms(transA,transB);
+
+	int i;
+	for (i=0;i<3 ;i++ )
+	{
+		testAngularLimitMotor(i);
+	}
+
+	if(m_useOffsetForConstraintFrame)
+	{ // for stability better to solve angular limits first
+		int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);
+		setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB);
+	}
+	else
+	{ // leave old version for compatibility
+		int row = setLinearLimits(info, 0, transA,transB,linVelA,linVelB,angVelA,angVelB);
+		setAngularLimits(info, row,transA,transB,linVelA,linVelB,angVelA,angVelB);
+	}
+}
+
+
+
+int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info, int row, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB)
+{
+//	int row = 0;
+	//solve linear limits
+	btRotationalLimitMotor limot;
+	for (int i=0;i<3 ;i++ )
+	{
+		if(m_linearLimits.needApplyForce(i))
+		{ // re-use rotational motor code
+			limot.m_bounce = btScalar(0.f);
+			limot.m_currentLimit = m_linearLimits.m_currentLimit[i];
+			limot.m_currentPosition = m_linearLimits.m_currentLinearDiff[i];
+			limot.m_currentLimitError  = m_linearLimits.m_currentLimitError[i];
+			limot.m_damping  = m_linearLimits.m_damping;
+			limot.m_enableMotor  = m_linearLimits.m_enableMotor[i];
+			limot.m_hiLimit  = m_linearLimits.m_upperLimit[i];
+			limot.m_limitSoftness  = m_linearLimits.m_limitSoftness;
+			limot.m_loLimit  = m_linearLimits.m_lowerLimit[i];
+			limot.m_maxLimitForce  = btScalar(0.f);
+			limot.m_maxMotorForce  = m_linearLimits.m_maxMotorForce[i];
+			limot.m_targetVelocity  = m_linearLimits.m_targetVelocity[i];
+			btVector3 axis = m_calculatedTransformA.getBasis().getColumn(i);
+			int flags = m_flags >> (i * BT_6DOF_FLAGS_AXIS_SHIFT);
+			limot.m_normalCFM	= (flags & BT_6DOF_FLAGS_CFM_NORM) ? m_linearLimits.m_normalCFM[i] : info->cfm[0];
+			limot.m_stopCFM		= (flags & BT_6DOF_FLAGS_CFM_STOP) ? m_linearLimits.m_stopCFM[i] : info->cfm[0];
+			limot.m_stopERP		= (flags & BT_6DOF_FLAGS_ERP_STOP) ? m_linearLimits.m_stopERP[i] : info->erp;
+			if(m_useOffsetForConstraintFrame)
+			{
+				int indx1 = (i + 1) % 3;
+				int indx2 = (i + 2) % 3;
+				int rotAllowed = 1; // rotations around orthos to current axis
+				if(m_angularLimits[indx1].m_currentLimit && m_angularLimits[indx2].m_currentLimit)
+				{
+					rotAllowed = 0;
+				}
+				row += get_limit_motor_info2(&limot, transA,transB,linVelA,linVelB,angVelA,angVelB, info, row, axis, 0, rotAllowed);
+			}
+			else
+			{
+				row += get_limit_motor_info2(&limot, transA,transB,linVelA,linVelB,angVelA,angVelB, info, row, axis, 0);
+			}
+		}
+	}
+	return row;
+}
+
+
+
+int btGeneric6DofConstraint::setAngularLimits(btConstraintInfo2 *info, int row_offset, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB)
+{
+	btGeneric6DofConstraint * d6constraint = this;
+	int row = row_offset;
+	//solve angular limits
+	for (int i=0;i<3 ;i++ )
+	{
+		if(d6constraint->getRotationalLimitMotor(i)->needApplyTorques())
+		{
+			btVector3 axis = d6constraint->getAxis(i);
+			int flags = m_flags >> ((i + 3) * BT_6DOF_FLAGS_AXIS_SHIFT);
+			if(!(flags & BT_6DOF_FLAGS_CFM_NORM))
+			{
+				m_angularLimits[i].m_normalCFM = info->cfm[0];
+			}
+			if(!(flags & BT_6DOF_FLAGS_CFM_STOP))
+			{
+				m_angularLimits[i].m_stopCFM = info->cfm[0];
+			}
+			if(!(flags & BT_6DOF_FLAGS_ERP_STOP))
+			{
+				m_angularLimits[i].m_stopERP = info->erp;
+			}
+			row += get_limit_motor_info2(d6constraint->getRotationalLimitMotor(i),
+												transA,transB,linVelA,linVelB,angVelA,angVelB, info,row,axis,1);
+		}
+	}
+
+	return row;
+}
+
+
+
+
+void	btGeneric6DofConstraint::updateRHS(btScalar	timeStep)
+{
+	(void)timeStep;
+
+}
+
+
+void btGeneric6DofConstraint::setFrames(const btTransform& frameA, const btTransform& frameB)
+{
+	m_frameInA = frameA;
+	m_frameInB = frameB;
+	buildJacobian();
+	calculateTransforms();
+}
+
+
+
+btVector3 btGeneric6DofConstraint::getAxis(int axis_index) const
+{
+	return m_calculatedAxis[axis_index];
+}
+
+
+btScalar	btGeneric6DofConstraint::getRelativePivotPosition(int axisIndex) const
+{
+	return m_calculatedLinearDiff[axisIndex];
+}
+
+
+btScalar btGeneric6DofConstraint::getAngle(int axisIndex) const
+{
+	return m_calculatedAxisAngleDiff[axisIndex];
+}
+
+
+
+void btGeneric6DofConstraint::calcAnchorPos(void)
+{
+	btScalar imA = m_rbA.getInvMass();
+	btScalar imB = m_rbB.getInvMass();
+	btScalar weight;
+	if(imB == btScalar(0.0))
+	{
+		weight = btScalar(1.0);
+	}
+	else
+	{
+		weight = imA / (imA + imB);
+	}
+	const btVector3& pA = m_calculatedTransformA.getOrigin();
+	const btVector3& pB = m_calculatedTransformB.getOrigin();
+	m_AnchorPos = pA * weight + pB * (btScalar(1.0) - weight);
+	return;
+}
+
+
+
+void btGeneric6DofConstraint::calculateLinearInfo()
+{
+	m_calculatedLinearDiff = m_calculatedTransformB.getOrigin() - m_calculatedTransformA.getOrigin();
+	m_calculatedLinearDiff = m_calculatedTransformA.getBasis().inverse() * m_calculatedLinearDiff;
+	for(int i = 0; i < 3; i++)
+	{
+		m_linearLimits.m_currentLinearDiff[i] = m_calculatedLinearDiff[i];
+		m_linearLimits.testLimitValue(i, m_calculatedLinearDiff[i]);
+	}
+}
+
+
+
+int btGeneric6DofConstraint::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)
+{
+    int srow = row * info->rowskip;
+    int powered = limot->m_enableMotor;
+    int limit = limot->m_currentLimit;
+    if (powered || limit)
+    {   // if the joint is powered, or has joint limits, add in the extra row
+        btScalar *J1 = rotational ? info->m_J1angularAxis : info->m_J1linearAxis;
+        btScalar *J2 = rotational ? info->m_J2angularAxis : 0;
+        J1[srow+0] = ax1[0];
+        J1[srow+1] = ax1[1];
+        J1[srow+2] = ax1[2];
+        if(rotational)
+        {
+            J2[srow+0] = -ax1[0];
+            J2[srow+1] = -ax1[1];
+            J2[srow+2] = -ax1[2];
+        }
+        if((!rotational))
+        {
+			if (m_useOffsetForConstraintFrame)
+			{
+				btVector3 tmpA, tmpB, relA, relB;
+				// get vector from bodyB to frameB in WCS
+				relB = m_calculatedTransformB.getOrigin() - transB.getOrigin();
+				// get its projection to constraint axis
+				btVector3 projB = ax1 * relB.dot(ax1);
+				// get vector directed from bodyB to constraint axis (and orthogonal to it)
+				btVector3 orthoB = relB - projB;
+				// same for bodyA
+				relA = m_calculatedTransformA.getOrigin() - transA.getOrigin();
+				btVector3 projA = ax1 * relA.dot(ax1);
+				btVector3 orthoA = relA - projA;
+				// get desired offset between frames A and B along constraint axis
+				btScalar desiredOffs = limot->m_currentPosition - limot->m_currentLimitError;
+				// desired vector from projection of center of bodyA to projection of center of bodyB to constraint axis
+				btVector3 totalDist = projA + ax1 * desiredOffs - projB;
+				// get offset vectors relA and relB
+				relA = orthoA + totalDist * m_factA;
+				relB = orthoB - totalDist * m_factB;
+				tmpA = relA.cross(ax1);
+				tmpB = relB.cross(ax1);
+				if(m_hasStaticBody && (!rotAllowed))
+				{
+					tmpA *= m_factA;
+					tmpB *= m_factB;
+				}
+				int i;
+				for (i=0; i<3; i++) info->m_J1angularAxis[srow+i] = tmpA[i];
+				for (i=0; i<3; i++) info->m_J2angularAxis[srow+i] = -tmpB[i];
+			} else
+			{
+				btVector3 ltd;	// Linear Torque Decoupling vector
+				btVector3 c = m_calculatedTransformB.getOrigin() - transA.getOrigin();
+				ltd = c.cross(ax1);
+				info->m_J1angularAxis[srow+0] = ltd[0];
+				info->m_J1angularAxis[srow+1] = ltd[1];
+				info->m_J1angularAxis[srow+2] = ltd[2];
+
+				c = m_calculatedTransformB.getOrigin() - transB.getOrigin();
+				ltd = -c.cross(ax1);
+				info->m_J2angularAxis[srow+0] = ltd[0];
+				info->m_J2angularAxis[srow+1] = ltd[1];
+				info->m_J2angularAxis[srow+2] = ltd[2];
+			}
+        }
+        // if we're limited low and high simultaneously, the joint motor is
+        // ineffective
+        if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = 0;
+        info->m_constraintError[srow] = btScalar(0.f);
+        if (powered)
+        {
+			info->cfm[srow] = limot->m_normalCFM;
+            if(!limit)
+            {
+				btScalar tag_vel = rotational ? limot->m_targetVelocity : -limot->m_targetVelocity;
+
+				btScalar mot_fact = getMotorFactor(	limot->m_currentPosition, 
+													limot->m_loLimit,
+													limot->m_hiLimit, 
+													tag_vel, 
+													info->fps * limot->m_stopERP);
+				info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity;
+                info->m_lowerLimit[srow] = -limot->m_maxMotorForce;
+                info->m_upperLimit[srow] = limot->m_maxMotorForce;
+            }
+        }
+        if(limit)
+        {
+            btScalar k = info->fps * limot->m_stopERP;
+			if(!rotational)
+			{
+				info->m_constraintError[srow] += k * limot->m_currentLimitError;
+			}
+			else
+			{
+				info->m_constraintError[srow] += -k * limot->m_currentLimitError;
+			}
+			info->cfm[srow] = limot->m_stopCFM;
+            if (limot->m_loLimit == limot->m_hiLimit)
+            {   // limited low and high simultaneously
+                info->m_lowerLimit[srow] = -SIMD_INFINITY;
+                info->m_upperLimit[srow] = SIMD_INFINITY;
+            }
+            else
+            {
+                if (limit == 1)
+                {
+                    info->m_lowerLimit[srow] = 0;
+                    info->m_upperLimit[srow] = SIMD_INFINITY;
+                }
+                else
+                {
+                    info->m_lowerLimit[srow] = -SIMD_INFINITY;
+                    info->m_upperLimit[srow] = 0;
+                }
+                // deal with bounce
+                if (limot->m_bounce > 0)
+                {
+                    // calculate joint velocity
+                    btScalar vel;
+                    if (rotational)
+                    {
+                        vel = angVelA.dot(ax1);
+//make sure that if no body -> angVelB == zero vec
+//                        if (body1)
+                            vel -= angVelB.dot(ax1);
+                    }
+                    else
+                    {
+                        vel = linVelA.dot(ax1);
+//make sure that if no body -> angVelB == zero vec
+//                        if (body1)
+                            vel -= linVelB.dot(ax1);
+                    }
+                    // only apply bounce if the velocity is incoming, and if the
+                    // resulting c[] exceeds what we already have.
+                    if (limit == 1)
+                    {
+                        if (vel < 0)
+                        {
+                            btScalar newc = -limot->m_bounce* vel;
+                            if (newc > info->m_constraintError[srow]) 
+								info->m_constraintError[srow] = newc;
+                        }
+                    }
+                    else
+                    {
+                        if (vel > 0)
+                        {
+                            btScalar newc = -limot->m_bounce * vel;
+                            if (newc < info->m_constraintError[srow]) 
+								info->m_constraintError[srow] = newc;
+                        }
+                    }
+                }
+            }
+        }
+        return 1;
+    }
+    else return 0;
+}
+
+
+
+
+
+
+	///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 btGeneric6DofConstraint::setParam(int num, btScalar value, int axis)
+{
+	if((axis >= 0) && (axis < 3))
+	{
+		switch(num)
+		{
+			case BT_CONSTRAINT_STOP_ERP : 
+				m_linearLimits.m_stopERP[axis] = value;
+				m_flags |= BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
+				break;
+			case BT_CONSTRAINT_STOP_CFM : 
+				m_linearLimits.m_stopCFM[axis] = value;
+				m_flags |= BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
+				break;
+			case BT_CONSTRAINT_CFM : 
+				m_linearLimits.m_normalCFM[axis] = value;
+				m_flags |= BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
+				break;
+			default : 
+				btAssertConstrParams(0);
+		}
+	}
+	else if((axis >=3) && (axis < 6))
+	{
+		switch(num)
+		{
+			case BT_CONSTRAINT_STOP_ERP : 
+				m_angularLimits[axis - 3].m_stopERP = value;
+				m_flags |= BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
+				break;
+			case BT_CONSTRAINT_STOP_CFM : 
+				m_angularLimits[axis - 3].m_stopCFM = value;
+				m_flags |= BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
+				break;
+			case BT_CONSTRAINT_CFM : 
+				m_angularLimits[axis - 3].m_normalCFM = value;
+				m_flags |= BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
+				break;
+			default : 
+				btAssertConstrParams(0);
+		}
+	}
+	else
+	{
+		btAssertConstrParams(0);
+	}
+}
+
+	///return the local value of parameter
+btScalar btGeneric6DofConstraint::getParam(int num, int axis) const 
+{
+	btScalar retVal = 0;
+	if((axis >= 0) && (axis < 3))
+	{
+		switch(num)
+		{
+			case BT_CONSTRAINT_STOP_ERP : 
+				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
+				retVal = m_linearLimits.m_stopERP[axis];
+				break;
+			case BT_CONSTRAINT_STOP_CFM : 
+				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
+				retVal = m_linearLimits.m_stopCFM[axis];
+				break;
+			case BT_CONSTRAINT_CFM : 
+				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
+				retVal = m_linearLimits.m_normalCFM[axis];
+				break;
+			default : 
+				btAssertConstrParams(0);
+		}
+	}
+	else if((axis >=3) && (axis < 6))
+	{
+		switch(num)
+		{
+			case BT_CONSTRAINT_STOP_ERP : 
+				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
+				retVal = m_angularLimits[axis - 3].m_stopERP;
+				break;
+			case BT_CONSTRAINT_STOP_CFM : 
+				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
+				retVal = m_angularLimits[axis - 3].m_stopCFM;
+				break;
+			case BT_CONSTRAINT_CFM : 
+				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
+				retVal = m_angularLimits[axis - 3].m_normalCFM;
+				break;
+			default : 
+				btAssertConstrParams(0);
+		}
+	}
+	else
+	{
+		btAssertConstrParams(0);
+	}
+	return retVal;
+}
+
+ 
+
+void btGeneric6DofConstraint::setAxis(const btVector3& axis1,const btVector3& axis2)
+{
+	btVector3 zAxis = axis1.normalized();
+	btVector3 yAxis = axis2.normalized();
+	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]);
+	
+	// now get constraint frame in local coordinate systems
+	m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW;
+	m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW;
+	
+	calculateTransforms();
+}