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

data/deps/include/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h

@@ -1,99 +0,0 @@
-/*
-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 BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
-#define BT_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 init();
-	void internalUpdateSprings(btConstraintInfo2* info);
-public: 
-    btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
-    btGeneric6DofSpringConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
-	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 setAxis( const btVector3& axis1, const btVector3& axis2);
-
-	virtual void getInfo2 (btConstraintInfo2* info);
-
-	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 btGeneric6DofSpringConstraintData
-{
-	btGeneric6DofConstraintData	m_6dofData;
-	
-	int			m_springEnabled[6];
-	float		m_equilibriumPoint[6];
-	float		m_springStiffness[6];
-	float		m_springDamping[6];
-};
-
-SIMD_FORCE_INLINE	int	btGeneric6DofSpringConstraint::calculateSerializeBufferSize() const
-{
-	return sizeof(btGeneric6DofSpringConstraintData);
-}
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE	const char*	btGeneric6DofSpringConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btGeneric6DofSpringConstraintData* dof = (btGeneric6DofSpringConstraintData*)dataBuffer;
-	btGeneric6DofConstraint::serialize(&dof->m_6dofData,serializer);
-
-	int i;
-	for (i=0;i<6;i++)
-	{
-		dof->m_equilibriumPoint[i] = m_equilibriumPoint[i];
-		dof->m_springDamping[i] = m_springDamping[i];
-		dof->m_springEnabled[i] = m_springEnabled[i]? 1 : 0;
-		dof->m_springStiffness[i] = m_springStiffness[i];
-	}
-	return "btGeneric6DofConstraintData";
-}
-
-#endif // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
-

data/deps/include/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.h

@@ -1,58 +0,0 @@
-/*
-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 BT_HINGE2_CONSTRAINT_H
-#define BT_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 // BT_HINGE2_CONSTRAINT_H
-

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

@@ -1,381 +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.
-*/
-
-/* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */
-
-#ifndef BT_HINGECONSTRAINT_H
-#define BT_HINGECONSTRAINT_H
-
-#define _BT_USE_CENTER_LIMIT_ 1
-
-
-#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;
-
-
-#ifdef	_BT_USE_CENTER_LIMIT_
-	btAngularLimit	m_limit;
-#else
-	btScalar	m_lowerLimit;	
-	btScalar	m_upperLimit;	
-	btScalar	m_limitSign;
-	btScalar	m_correction;
-
-	btScalar	m_limitSoftness; 
-	btScalar	m_biasFactor; 
-	btScalar	m_relaxationFactor; 
-
-	bool		m_solveLimit;
-#endif
-
-	btScalar	m_kHinge;
-
-
-	btScalar	m_accLimitImpulse;
-	btScalar	m_hingeAngle;
-	btScalar	m_referenceSign;
-
-	bool		m_angularOnly;
-	bool		m_enableAngularMotor;
-	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;	
-	}
-
-	btTransform& getFrameOffsetA()
-	{
-	return m_rbAFrame;
-	}
-
-	btTransform& getFrameOffsetB()
-	{
-		return m_rbBFrame;
-	}
-
-	void setFrames(const btTransform& frameA, const btTransform& frameB);
-	
-	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)
-	{
-#ifdef	_BT_USE_CENTER_LIMIT_
-		m_limit.set(low, high, _softness, _biasFactor, _relaxationFactor);
-#else
-		m_lowerLimit = btNormalizeAngle(low);
-		m_upperLimit = btNormalizeAngle(high);
-		m_limitSoftness =  _softness;
-		m_biasFactor = _biasFactor;
-		m_relaxationFactor = _relaxationFactor;
-#endif
-	}
-
-	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_rbB.getCenterOfMassTransform().inverse()(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() );
-		m_rbBFrame.getBasis() = m_rbB.getCenterOfMassTransform().getBasis().inverse() * m_rbBFrame.getBasis();
-
-	}
-
-	btScalar	getLowerLimit() const
-	{
-#ifdef	_BT_USE_CENTER_LIMIT_
-	return m_limit.getLow();
-#else
-	return m_lowerLimit;
-#endif
-	}
-
-	btScalar	getUpperLimit() const
-	{
-#ifdef	_BT_USE_CENTER_LIMIT_
-	return m_limit.getHigh();
-#else		
-	return m_upperLimit;
-#endif
-	}
-
-
-	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()
-	{
-#ifdef	_BT_USE_CENTER_LIMIT_
-	return m_limit.isLimit();
-#else
-	return m_solveLimit;
-#endif
-	}
-
-	inline btScalar getLimitSign()
-	{
-#ifdef	_BT_USE_CENTER_LIMIT_
-	return m_limit.getSign();
-#else
-		return m_limitSign;
-#endif
-	}
-
-	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;
-#ifdef	_BT_USE_CENTER_LIMIT_
-	hingeData->m_lowerLimit = float(m_limit.getLow());
-	hingeData->m_upperLimit = float(m_limit.getHigh());
-	hingeData->m_limitSoftness = float(m_limit.getSoftness());
-	hingeData->m_biasFactor = float(m_limit.getBiasFactor());
-	hingeData->m_relaxationFactor = float(m_limit.getRelaxationFactor());
-#else
-	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);
-#endif
-
-	return btHingeConstraintDataName;
-}
-
-#endif //BT_HINGECONSTRAINT_H

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

@@ -1,156 +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_JACOBIAN_ENTRY_H
-#define BT_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 //BT_JACOBIAN_ENTRY_H