ruby-bullet 0.1.0-x86-linux → 0.1.1-x86-linux

data/deps/include/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h

@@ -1,87 +0,0 @@
-/*
-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_CONTACT_SOLVER_INFO
-#define BT_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 //BT_CONTACT_SOLVER_INFO

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

@@ -1,614 +0,0 @@
-/*
-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 BT_GENERIC_6DOF_CONSTRAINT_H
-#define BT_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;
-
-	void setFrames(const btTransform & frameA, const btTransform & frameB);
-
-	//! 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	getLinearLowerLimit(btVector3& linearLower)
-	{
-		linearLower = m_linearLimits.m_lowerLimit;
-	}
-
-	void	setLinearUpperLimit(const btVector3& linearUpper)
-	{
-		m_linearLimits.m_upperLimit = linearUpper;
-	}
-
-	void	getLinearUpperLimit(btVector3& linearUpper)
-	{
-		linearUpper = m_linearLimits.m_upperLimit;
-	}
-
-    void	setAngularLowerLimit(const btVector3& angularLower)
-    {
-		for(int i = 0; i < 3; i++) 
-			m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]);
-    }
-
-	void	getAngularLowerLimit(btVector3& angularLower)
-	{
-		for(int i = 0; i < 3; i++) 
-			angularLower[i] = m_angularLimits[i].m_loLimit;
-	}
-
-    void	setAngularUpperLimit(const btVector3& angularUpper)
-    {
-		for(int i = 0; i < 3; i++)
-			m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]);
-    }
-
-	void	getAngularUpperLimit(btVector3& angularUpper)
-	{
-		for(int i = 0; i < 3; i++)
-			angularUpper[i] = m_angularLimits[i].m_hiLimit;
-	}
-
-	//! 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;
-
-	void setAxis( const btVector3& axis1, const btVector3& axis2);
-
-
-	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 //BT_GENERIC_6DOF_CONSTRAINT_H