- added support for generic 6DOF constraint

- only 6DOF constraint shows buttons for limits
- added python support for rigidbody constraint (untested, but required for COLLADA Physics support)

9 files changed, 367 insertions, 90 deletions

diff --git a/source/blender/makesdna/DNA_constraint_types.h b/source/blender/makesdna/DNA_constraint_types.h
index 5e220e40fed..ccc5f0c48e4 100644
--- a/source/blender/makesdna/DNA_constraint_types.h
+++ b/source/blender/makesdna/DNA_constraint_types.h
@@ -318,10 +318,11 @@ typedef struct bRigidBodyJointConstraint{
 
 #define LIMIT_NOPARENT 0x01
 
+/* important: these defines need to match up with PHY_DynamicTypes headerfile */
 #define CONSTRAINT_RB_BALL		1
 #define CONSTRAINT_RB_HINGE		2
-#define CONSTRAINT_RB_GENERIC6DOF 3
 #define CONSTRAINT_RB_VEHICLE	11
+#define CONSTRAINT_RB_GENERIC6DOF 12
 
 #endif
 
diff --git a/source/blender/python/api2_2x/Constraint.c b/source/blender/python/api2_2x/Constraint.c
index e8a0566c89e..601fc895992 100644
--- a/source/blender/python/api2_2x/Constraint.c
+++ b/source/blender/python/api2_2x/Constraint.c
@@ -124,6 +124,33 @@ enum constraint_constants {
 	
 	EXPP_CONSTR_LIMLOCALBONE,
 	EXPP_CONSTR_LIMLOCALNOPAR,
+	
+	EXPP_CONSTR_RB_TYPE,
+	EXPP_CONSTR_RB_BALL,
+	EXPP_CONSTR_RB_HINGE,
+	EXPP_CONSTR_RB_GENERIC6DOF,
+	EXPP_CONSTR_RB_VEHICLE,
+	EXPP_CONSTR_RB_PIVX,
+	EXPP_CONSTR_RB_PIVY,
+	EXPP_CONSTR_RB_PIVZ,
+	EXPP_CONSTR_RB_AXX,
+	EXPP_CONSTR_RB_AXY,
+	EXPP_CONSTR_RB_AXZ,
+	EXPP_CONSTR_RB_MINLIMIT0,
+	EXPP_CONSTR_RB_MINLIMIT1,
+	EXPP_CONSTR_RB_MINLIMIT2,
+	EXPP_CONSTR_RB_MINLIMIT3,
+	EXPP_CONSTR_RB_MINLIMIT4,
+	EXPP_CONSTR_RB_MINLIMIT5,
+	EXPP_CONSTR_RB_MAXLIMIT0,
+	EXPP_CONSTR_RB_MAXLIMIT1,
+	EXPP_CONSTR_RB_MAXLIMIT2,
+	EXPP_CONSTR_RB_MAXLIMIT3,
+	EXPP_CONSTR_RB_MAXLIMIT4,
+	EXPP_CONSTR_RB_MAXLIMIT5,
+	EXPP_CONSTR_RB_EXTRAFZ,
+	EXPP_CONSTR_RB_FLAG,
+	
 };
 
 /*****************************************************************************/
@@ -1147,6 +1174,125 @@ static int sizelimit_setter( BPy_Constraint *self, int type, PyObject *value )
 	}
 }
 
+
+static PyObject *rigidbody_getter( BPy_Constraint * self, int type)
+{
+	bRigidBodyJointConstraint *con = (bRigidBodyJointConstraint *)(self->con->data);
+
+	switch( type ) {
+	case EXPP_CONSTR_TARGET:
+		return Object_CreatePyObject( con->tar );
+	case EXPP_CONSTR_RB_PIVX:
+		return PyFloat_FromDouble( (double)con->pivX );
+	case EXPP_CONSTR_RB_PIVY:
+		return PyFloat_FromDouble( (double)con->pivY );
+	case EXPP_CONSTR_RB_PIVZ:
+		return PyFloat_FromDouble( (double)con->pivZ );
+	case EXPP_CONSTR_RB_AXX:
+		return PyFloat_FromDouble( (double)con->axX );
+	case EXPP_CONSTR_RB_AXY:
+		return PyFloat_FromDouble( (double)con->axY );
+	case EXPP_CONSTR_RB_AXZ:
+		return PyFloat_FromDouble( (double)con->axZ );
+	case EXPP_CONSTR_RB_MINLIMIT0:
+		return PyFloat_FromDouble( (double)con->minLimit[0] );
+	case EXPP_CONSTR_RB_MINLIMIT1:
+		return PyFloat_FromDouble( (double)con->minLimit[1] );
+	case EXPP_CONSTR_RB_MINLIMIT2:
+		return PyFloat_FromDouble( (double)con->minLimit[2] );
+	case EXPP_CONSTR_RB_MINLIMIT3:
+		return PyFloat_FromDouble( (double)con->minLimit[3] );
+	case EXPP_CONSTR_RB_MINLIMIT4:
+		return PyFloat_FromDouble( (double)con->minLimit[4] );
+	case EXPP_CONSTR_RB_MINLIMIT5:
+		return PyFloat_FromDouble( (double)con->minLimit[5] );
+	case EXPP_CONSTR_RB_MAXLIMIT0:
+		return PyFloat_FromDouble( (double)con->maxLimit[0] );
+	case EXPP_CONSTR_RB_MAXLIMIT1:
+		return PyFloat_FromDouble( (double)con->maxLimit[1] );
+	case EXPP_CONSTR_RB_MAXLIMIT2:
+		return PyFloat_FromDouble( (double)con->maxLimit[2] );
+	case EXPP_CONSTR_RB_MAXLIMIT3:
+		return PyFloat_FromDouble( (double)con->maxLimit[3] );
+	case EXPP_CONSTR_RB_MAXLIMIT4:
+		return PyFloat_FromDouble( (double)con->maxLimit[4] );
+	case EXPP_CONSTR_RB_MAXLIMIT5:
+		return PyFloat_FromDouble( (double)con->maxLimit[5] );
+	case EXPP_CONSTR_RB_EXTRAFZ:
+		return PyFloat_FromDouble( (double)con->extraFz );		
+	case EXPP_CONSTR_LIMIT:
+		return PyInt_FromLong( (int)con->flag );
+		
+	case EXPP_CONSTR_RB_TYPE:
+		return PyInt_FromLong( (int)con->type );
+	default:
+		return EXPP_ReturnPyObjError( PyExc_KeyError, "key not found" );	
+	}
+}
+
+
+static int rigidbody_setter( BPy_Constraint *self, int type, PyObject *value )
+{
+	bRigidBodyJointConstraint *con = (bRigidBodyJointConstraint *)(self->con->data);	
+	
+	switch( type ) {
+	case EXPP_CONSTR_TARGET: {
+		Object *obj = (( BPy_Object * )value)->object;
+		if( !BPy_Object_Check( value ) )
+			return EXPP_ReturnIntError( PyExc_TypeError, 
+					"expected BPy object argument" );
+		con->tar = obj;
+		return 0;
+		}
+	case EXPP_CONSTR_RB_PIVX:
+		return EXPP_setFloatClamped( value, &con->pivX , -1000.0, 1000.0 );
+	case EXPP_CONSTR_RB_PIVY:
+		return EXPP_setFloatClamped( value, &con->pivY , -1000.0, 1000.0 );
+	case EXPP_CONSTR_RB_PIVZ:
+		return EXPP_setFloatClamped( value, &con->pivZ , -1000.0, 1000.0 );
+	case EXPP_CONSTR_RB_AXX:
+		return EXPP_setFloatClamped( value, &con->axX , -1000.0, 1000.0 );
+	case EXPP_CONSTR_RB_AXY:
+		return EXPP_setFloatClamped( value, &con->axY , -1000.0, 1000.0 );
+	case EXPP_CONSTR_RB_AXZ:
+		return EXPP_setFloatClamped( value, &con->axZ , -1000.0, 1000.0 );
+	case EXPP_CONSTR_RB_MINLIMIT0:
+		return EXPP_setFloatClamped( value, &con->minLimit[0] , -1000.0, 1000.0 );
+	case EXPP_CONSTR_RB_MINLIMIT1:
+		return EXPP_setFloatClamped( value, &con->minLimit[1] , -1000.0, 1000.0 );
+	case EXPP_CONSTR_RB_MINLIMIT2:
+		return EXPP_setFloatClamped( value, &con->minLimit[2] , -1000.0, 1000.0 );
+	case EXPP_CONSTR_RB_MINLIMIT3:
+		return EXPP_setFloatClamped( value, &con->minLimit[3] , -1000.0, 1000.0 );
+	case EXPP_CONSTR_RB_MINLIMIT4:
+		return EXPP_setFloatClamped( value, &con->minLimit[4] , -1000.0, 1000.0 );
+	case EXPP_CONSTR_RB_MINLIMIT5:
+		return EXPP_setFloatClamped( value, &con->minLimit[5] , -1000.0, 1000.0 );
+	case EXPP_CONSTR_RB_MAXLIMIT0:
+		return EXPP_setFloatClamped( value, &con->maxLimit[0] , -1000.0, 1000.0 );
+	case EXPP_CONSTR_RB_MAXLIMIT1:
+		return EXPP_setFloatClamped( value, &con->maxLimit[1] , -1000.0, 1000.0 );
+	case EXPP_CONSTR_RB_MAXLIMIT2:
+		return EXPP_setFloatClamped( value, &con->maxLimit[2] , -1000.0, 1000.0 );
+	case EXPP_CONSTR_RB_MAXLIMIT3:
+		return EXPP_setFloatClamped( value, &con->maxLimit[3] , -1000.0, 1000.0 );
+	case EXPP_CONSTR_RB_MAXLIMIT4:
+		return EXPP_setFloatClamped( value, &con->maxLimit[4] , -1000.0, 1000.0 );
+	case EXPP_CONSTR_RB_MAXLIMIT5:
+		return EXPP_setFloatClamped( value, &con->maxLimit[5] , -1000.0, 1000.0 );
+	case EXPP_CONSTR_RB_EXTRAFZ:
+		return EXPP_setFloatClamped( value, &con->extraFz , -1000.0, 1000.0 );						
+	case EXPP_CONSTR_LIMIT:
+		return EXPP_setIValueRange( value, &con->flag, 0, 
+			LIMIT_XMIN | LIMIT_XMAX | LIMIT_YMIN | LIMIT_YMAX | LIMIT_ZMIN | LIMIT_ZMAX, 'i' );
+	case EXPP_CONSTR_RB_TYPE:
+		return EXPP_setIValueRange( value, &con->type, 0, 
+			EXPP_CONSTR_RB_BALL | EXPP_CONSTR_RB_HINGE | EXPP_CONSTR_RB_GENERIC6DOF | EXPP_CONSTR_RB_VEHICLE, 'i' );
+	default:
+		return EXPP_ReturnIntError( PyExc_KeyError, "key not found" );
+	}
+}
+
 /*
  * get data from a constraint
  */
@@ -1193,6 +1339,8 @@ static PyObject *Constraint_getData( BPy_Constraint * self, PyObject * key )
 			return loclimit_getter( self, setting );
 		case CONSTRAINT_TYPE_SIZELIMIT:
 			return sizelimit_getter( self, setting );
+		case CONSTRAINT_TYPE_RIGIDBODYJOINT:
+			return rigidbody_getter( self, setting );
 		case CONSTRAINT_TYPE_CHILDOF:	/* Unimplemented */
 		case CONSTRAINT_TYPE_PYTHON:
 		default:
@@ -1254,6 +1402,9 @@ static int Constraint_setData( BPy_Constraint * self, PyObject * key,
 	case CONSTRAINT_TYPE_SIZELIMIT:
 		result = sizelimit_setter( self, key_int, arg);
 		break;
+	case CONSTRAINT_TYPE_RIGIDBODYJOINT:
+		result = rigidbody_setter( self, key_int, arg);
+		break;
 	case CONSTRAINT_TYPE_NULL:
 		return EXPP_ReturnIntError( PyExc_KeyError, "key not found" );
 	case CONSTRAINT_TYPE_CHILDOF:	/* Unimplemented */
@@ -1483,7 +1634,7 @@ static PyObject *ConstraintSeq_append( BPy_ConstraintSeq *self, PyObject *args )
 		EXPP_ReturnPyObjError( PyExc_TypeError, "expected int argument" );
 
 	/* type 0 is CONSTRAINT_TYPE_NULL, should we be able to add one of these? */
-	if( type < CONSTRAINT_TYPE_NULL || type > CONSTRAINT_TYPE_MINMAX ) 
+	if( type < CONSTRAINT_TYPE_NULL || type > CONSTRAINT_TYPE_RIGIDBODYJOINT ) 
 		return EXPP_ReturnPyObjError( PyExc_ValueError,
 				"int argument out of range" );
 
@@ -1747,6 +1898,8 @@ static PyObject *M_Constraint_TypeDict( void )
 				PyInt_FromLong( CONSTRAINT_TYPE_ROTLIMIT ) );
 		PyConstant_Insert( d, "LIMITSIZE", 
 				PyInt_FromLong( CONSTRAINT_TYPE_SIZELIMIT ) );
+		PyConstant_Insert( d, "RIGIDBODYJOINT", 
+				PyInt_FromLong( CONSTRAINT_TYPE_RIGIDBODYJOINT ) );
 	}
 	return S;
 }
@@ -1927,6 +2080,58 @@ static PyObject *M_Constraint_SettingsDict( void )
 				PyInt_FromLong( EXPP_CONSTR_LIMLOCALBONE ) );
 		PyConstant_Insert( d, "LIMIT_LOCAL_NOPARENT",
 				PyInt_FromLong( EXPP_CONSTR_LIMLOCALNOPAR ) );
+
+
+		PyConstant_Insert( d, "CONSTR_RB_TYPE",
+				PyInt_FromLong( EXPP_CONSTR_RB_TYPE ) );
+		PyConstant_Insert( d, "CONSTR_RB_BALL",
+				PyInt_FromLong( EXPP_CONSTR_RB_BALL ) );
+		PyConstant_Insert( d, "CONSTR_RB_HINGE",
+				PyInt_FromLong( EXPP_CONSTR_RB_HINGE ) );
+		PyConstant_Insert( d, "CONSTR_RB_GENERIC6DOF",
+				PyInt_FromLong( EXPP_CONSTR_RB_GENERIC6DOF ) );
+		PyConstant_Insert( d, "CONSTR_RB_VEHICLE",
+				PyInt_FromLong( EXPP_CONSTR_RB_VEHICLE ) );
+		PyConstant_Insert( d, "CONSTR_RB_PIVX",
+				PyInt_FromLong( EXPP_CONSTR_RB_PIVX ) );
+		PyConstant_Insert( d, "CONSTR_RB_PIVY",
+				PyInt_FromLong( EXPP_CONSTR_RB_PIVY ) );
+		PyConstant_Insert( d, "CONSTR_RB_PIVZ",
+				PyInt_FromLong( EXPP_CONSTR_RB_PIVZ ) );
+		PyConstant_Insert( d, "CONSTR_RB_AXX",
+				PyInt_FromLong( EXPP_CONSTR_RB_AXX ) );
+		PyConstant_Insert( d, "CONSTR_RB_AXY",
+				PyInt_FromLong( EXPP_CONSTR_RB_AXY ) );
+		PyConstant_Insert( d, "CONSTR_RB_AXZ",
+				PyInt_FromLong( EXPP_CONSTR_RB_AXZ ) );
+		PyConstant_Insert( d, "CONSTR_RB_MINLIMIT0",
+				PyInt_FromLong( EXPP_CONSTR_RB_MINLIMIT0 ) );
+		PyConstant_Insert( d, "CONSTR_RB_MINLIMIT1",
+				PyInt_FromLong( EXPP_CONSTR_RB_MINLIMIT1 ) );
+		PyConstant_Insert( d, "CONSTR_RB_MINLIMIT2",
+				PyInt_FromLong( EXPP_CONSTR_RB_MINLIMIT2 ) );
+		PyConstant_Insert( d, "CONSTR_RB_MINLIMIT3",
+				PyInt_FromLong( EXPP_CONSTR_RB_MINLIMIT3 ) );
+		PyConstant_Insert( d, "CONSTR_RB_MINLIMIT4",
+				PyInt_FromLong( EXPP_CONSTR_RB_MINLIMIT4 ) );
+		PyConstant_Insert( d, "CONSTR_RB_MINLIMIT5",
+				PyInt_FromLong( EXPP_CONSTR_RB_MINLIMIT5 ) );
+		PyConstant_Insert( d, "CONSTR_RB_MAXLIMIT0",
+				PyInt_FromLong( EXPP_CONSTR_RB_MAXLIMIT0 ) );
+		PyConstant_Insert( d, "CONSTR_RB_MAXLIMIT1",
+				PyInt_FromLong( EXPP_CONSTR_RB_MAXLIMIT1 ) );
+		PyConstant_Insert( d, "CONSTR_RB_MAXLIMIT2",
+				PyInt_FromLong( EXPP_CONSTR_RB_MAXLIMIT2 ) );
+		PyConstant_Insert( d, "CONSTR_RB_MAXLIMIT3",
+				PyInt_FromLong( EXPP_CONSTR_RB_MAXLIMIT3 ) );
+		PyConstant_Insert( d, "CONSTR_RB_MAXLIMIT4",
+				PyInt_FromLong( EXPP_CONSTR_RB_MAXLIMIT4 ) );
+		PyConstant_Insert( d, "CONSTR_RB_MAXLIMIT5",
+				PyInt_FromLong( EXPP_CONSTR_RB_MAXLIMIT5 ) );				
+		PyConstant_Insert( d, "CONSTR_RB_EXTRAFZ",
+				PyInt_FromLong( EXPP_CONSTR_RB_EXTRAFZ ) );
+		PyConstant_Insert( d, "CONSTR_RB_FLAG",
+				PyInt_FromLong( EXPP_CONSTR_RB_FLAG ) );
 	}
 	return S;
 }
diff --git a/source/blender/src/buttons_object.c b/source/blender/src/buttons_object.c
index bf695cb30e8..5f974b2d400 100644
--- a/source/blender/src/buttons_object.c
+++ b/source/blender/src/buttons_object.c
@@ -1136,21 +1136,23 @@ static void draw_constraint (uiBlock *block, ListBase *list, bConstraint *con, s
 				bRigidBodyJointConstraint *data = con->data;
 				int togButWidth = 70;
 				int offsetY = 150;
-				float extremeLin = 1000.f;
+				float extremeLin = 999.f;
 				float extremeAngX = 180.f;
 				float extremeAngY = 45.f;
 				float extremeAngZ = 45.f;
 
 				int textButWidth = ((width/2)-togButWidth);
 
-				uiDefButI(block, MENU, B_SWITCHRENDER, "Joint Types%t|Ball%x1|Hinge%x2|Generic6DOF%x3",//|Extra Force%x6",
+				uiDefButI(block, MENU, B_CONSTRAINT_TEST, "Joint Types%t|Ball%x1|Hinge%x2|Generic6DOF%x12",//|Extra Force%x6",
 												*xco, *yco-25, 150, 18, &data->type, 0, 0, 0, 0, "Choose the joint type");
-                height = 310;
-				
+                height = 140;
+				if (data->type==CONSTRAINT_RB_GENERIC6DOF){
+					height = 270;
+				}
                 uiDefBut(block, ROUNDBOX, B_DIFF, "", *xco-10, *yco-height, width+40,height-1, NULL, 5.0, 0.0, 12, rb_col, "");
 				{
 				    //uiDefBut(block, ROUNDBOX, B_DIFF, "", *xco-10, *yco-height, width+40,height-1, NULL, 5.0, 0.0, 12, rb_col, "");
-                    uiDefIDPoinBut(block, test_obpoin_but, ID_OB, B_CONSTRAINT_CHANGETARGET, "Child:", *xco, *yco-50, 130, 18, &data->tar, "Child Object");
+                    uiDefIDPoinBut(block, test_obpoin_but, ID_OB, B_CONSTRAINT_CHANGETARGET, "toObject:", *xco, *yco-50, 130, 18, &data->tar, "Child Object");
                     //if (data->tar)
                     //    uiDefIDPoinBut(block, test_obpoin_but, ID_OB, B_CONSTRAINT_CHANGETARGET, "Child:", *xco+135, *yco-50, 130, 18, &data->child, "Child2 Object (if this exist then this object will be the pivot Only)");
                     uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Pivot X:", *xco, *yco-75, 130, 18, &data->pivX, -10000, 10000, 100.0, 0.0, "Offset Joint");
@@ -1159,67 +1161,66 @@ static void draw_constraint (uiBlock *block, ListBase *list, bConstraint *con, s
                     uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Ax X:", *xco+135, *yco-75, 130, 18, &data->axX, -10000, 10000, 100.0, 0.0, "Offset Joint");
                     uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Ax Y:", *xco+135, *yco-100, 130, 18, &data->axY, -10000, 10000, 100.0, 0.0, "Offset Joint");
                     uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Ax Z:", *xco+135, *yco-125, 130, 18, &data->axZ, -10000, 10000, 100.0, 0.0, "Offset Joint");
-
-					/* Draw Pairs of LimitToggle+LimitValue */
-				uiBlockBeginAlign(block); 
-				uiDefButBitS(block, TOG, LIMIT_XMIN, B_CONSTRAINT_TEST, "LinMinX", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum x limit"); 
-				uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[0]), -extremeLin, extremeLin, 0.1,0.5,"min x limit"); 
-				uiBlockEndAlign(block); 
-				uiBlockBeginAlign(block); 
-				uiDefButBitS(block, TOG, LIMIT_XMIN, B_CONSTRAINT_TEST, "LinMaxX", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum x limit"); 
-				uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth-5), 18, &(data->maxLimit[0]), -extremeLin, extremeLin, 0.1,0.5,"max x limit"); 
-				uiBlockEndAlign(block); 
-				offsetY += 20;
-				uiBlockBeginAlign(block); 
-				uiDefButBitS(block, TOG, LIMIT_YMIN, B_CONSTRAINT_TEST, "LinMinY", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum y limit"); 
-				uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[1]), -extremeLin, extremeLin, 0.1,0.5,"min y limit"); 
-				uiBlockEndAlign(block); 
-				uiBlockBeginAlign(block); 
-				uiDefButBitS(block, TOG, LIMIT_YMIN, B_CONSTRAINT_TEST, "LinMaxY", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum y limit"); 
-				uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth-5), 18, &(data->maxLimit[1]), -extremeLin, extremeLin, 0.1,0.5,"max y limit"); 
-				uiBlockEndAlign(block); 
-				offsetY += 20;
-				uiBlockBeginAlign(block); 
-				uiDefButBitS(block, TOG, LIMIT_ZMIN, B_CONSTRAINT_TEST, "LinMinZ", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum z limit"); 
-				uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[2]), -extremeLin, extremeLin, 0.1,0.5,"min z limit"); 
-				uiBlockEndAlign(block); 
-				uiBlockBeginAlign(block); 
-				uiDefButBitS(block, TOG, LIMIT_ZMIN, B_CONSTRAINT_TEST, "LinMaxZ", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum z limit"); 
-				uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth-5), 18, &(data->maxLimit[2]), -extremeLin, extremeLin, 0.1,0.5,"max z limit"); 
-				uiBlockEndAlign(block);
-				offsetY += 20;
-				
-					/* Draw Pairs of LimitToggle+LimitValue */
-				uiBlockBeginAlign(block); 
-				uiDefButBitS(block, TOG, LIMIT_XMAX, B_CONSTRAINT_TEST, "AngMinX", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum x limit"); 
-				uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[3]), -extremeAngX, extremeAngX, 0.1,0.5,"min x limit"); 
-				uiBlockEndAlign(block); 
-				uiBlockBeginAlign(block); 
-				uiDefButBitS(block, TOG, LIMIT_XMAX, B_CONSTRAINT_TEST, "AngMaxX", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum x limit"); 
-				uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth-5), 18, &(data->maxLimit[3]), -extremeAngX, extremeAngX, 0.1,0.5,"max x limit"); 
-				uiBlockEndAlign(block); 
-				offsetY += 20;
-				uiBlockBeginAlign(block); 
-				uiDefButBitS(block, TOG, LIMIT_YMAX, B_CONSTRAINT_TEST, "AngMinY", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum y limit"); 
-				uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[4]), -extremeAngY, extremeAngY, 0.1,0.5,"min y limit"); 
-				uiBlockEndAlign(block); 
-				uiBlockBeginAlign(block); 
-				uiDefButBitS(block, TOG, LIMIT_YMAX, B_CONSTRAINT_TEST, "AngMaxY", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum y limit"); 
-				uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth-5), 18, &(data->maxLimit[4]), -extremeAngY, extremeAngY, 0.1,0.5,"max y limit"); 
-				uiBlockEndAlign(block); 
-				offsetY += 20;
-				uiBlockBeginAlign(block); 
-				uiDefButBitS(block, TOG, LIMIT_ZMAX, B_CONSTRAINT_TEST, "AngMinZ", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum z limit"); 
-				uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[5]), -extremeAngZ, extremeAngZ, 0.1,0.5,"min z limit"); 
-				uiBlockEndAlign(block); 
-				uiBlockBeginAlign(block); 
-				uiDefButBitS(block, TOG, LIMIT_ZMAX, B_CONSTRAINT_TEST, "AngMaxZ", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum z limit"); 
-				uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth-5), 18, &(data->maxLimit[5]), -extremeAngZ, extremeAngZ, 0.1,0.5,"max z limit"); 
-				uiBlockEndAlign(block);
-
-
-                }
-				
+					
+					if (data->type==CONSTRAINT_RB_GENERIC6DOF){
+						/* Draw Pairs of LimitToggle+LimitValue */
+						uiBlockBeginAlign(block); 
+						uiDefButBitS(block, TOG, 1, B_CONSTRAINT_TEST, "LinMinX", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum x limit"); 
+						uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[0]), -extremeLin, extremeLin, 0.1,0.5,"min x limit"); 
+						uiBlockEndAlign(block); 
+						uiBlockBeginAlign(block); 
+						uiDefButBitS(block, TOG, 1, B_CONSTRAINT_TEST, "LinMaxX", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum x limit"); 
+						uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth), 18, &(data->maxLimit[0]), -extremeLin, extremeLin, 0.1,0.5,"max x limit"); 
+						uiBlockEndAlign(block); 
+						offsetY += 20;
+						uiBlockBeginAlign(block); 
+						uiDefButBitS(block, TOG, 2, B_CONSTRAINT_TEST, "LinMinY", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum y limit"); 
+						uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[1]), -extremeLin, extremeLin, 0.1,0.5,"min y limit"); 
+						uiBlockEndAlign(block); 
+						uiBlockBeginAlign(block); 
+						uiDefButBitS(block, TOG, 2, B_CONSTRAINT_TEST, "LinMaxY", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum y limit"); 
+						uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth), 18, &(data->maxLimit[1]), -extremeLin, extremeLin, 0.1,0.5,"max y limit"); 
+						uiBlockEndAlign(block); 
+						offsetY += 20;
+						uiBlockBeginAlign(block); 
+						uiDefButBitS(block, TOG, 4, B_CONSTRAINT_TEST, "LinMinZ", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum z limit"); 
+						uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[2]), -extremeLin, extremeLin, 0.1,0.5,"min z limit"); 
+						uiBlockEndAlign(block); 
+						uiBlockBeginAlign(block); 
+						uiDefButBitS(block, TOG, 4, B_CONSTRAINT_TEST, "LinMaxZ", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum z limit"); 
+						uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth), 18, &(data->maxLimit[2]), -extremeLin, extremeLin, 0.1,0.5,"max z limit"); 
+						uiBlockEndAlign(block);
+						offsetY += 20;
+				
+						/* Draw Pairs of LimitToggle+LimitValue */
+						uiBlockBeginAlign(block); 
+						uiDefButBitS(block, TOG, 8, B_CONSTRAINT_TEST, "AngMinX", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum x limit"); 
+						uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[3]), -extremeAngX, extremeAngX, 0.1,0.5,"min x limit"); 
+						uiBlockEndAlign(block); 
+						uiBlockBeginAlign(block); 
+						uiDefButBitS(block, TOG, 8, B_CONSTRAINT_TEST, "AngMaxX", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum x limit"); 
+						uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth), 18, &(data->maxLimit[3]), -extremeAngX, extremeAngX, 0.1,0.5,"max x limit"); 
+						uiBlockEndAlign(block); 
+						offsetY += 20;
+						uiBlockBeginAlign(block); 
+						uiDefButBitS(block, TOG, 16, B_CONSTRAINT_TEST, "AngMinY", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum y limit"); 
+						uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[4]), -extremeAngY, extremeAngY, 0.1,0.5,"min y limit"); 
+						uiBlockEndAlign(block); 
+						uiBlockBeginAlign(block); 
+						uiDefButBitS(block, TOG, 16, B_CONSTRAINT_TEST, "AngMaxY", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum y limit"); 
+						uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth), 18, &(data->maxLimit[4]), -extremeAngY, extremeAngY, 0.1,0.5,"max y limit"); 
+						uiBlockEndAlign(block); 
+						offsetY += 20;
+						uiBlockBeginAlign(block); 
+						uiDefButBitS(block, TOG, 32, B_CONSTRAINT_TEST, "AngMinZ", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum z limit"); 
+						uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[5]), -extremeAngZ, extremeAngZ, 0.1,0.5,"min z limit"); 
+						uiBlockEndAlign(block); 
+						uiBlockBeginAlign(block); 
+						uiDefButBitS(block, TOG, 32, B_CONSTRAINT_TEST, "AngMaxZ", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum z limit"); 
+						uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth), 18, &(data->maxLimit[5]), -extremeAngZ, extremeAngZ, 0.1,0.5,"max z limit"); 
+						uiBlockEndAlign(block);
+					}
+                }				
 			}
 			break;
 		case CONSTRAINT_TYPE_NULL:
diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
index b8e273f3d19..2432462fecc 100644
--- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp
+++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
@@ -1939,12 +1939,37 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
             for (curcon = (bConstraint *)conlist->first; curcon; curcon=(bConstraint *)curcon->next) {
                 if (curcon->type==CONSTRAINT_TYPE_RIGIDBODYJOINT){
                     bRigidBodyJointConstraint *dat=(bRigidBodyJointConstraint *)curcon->data;
-                    if (dat->tar)
+                    //if (dat->tar)
                         if (!dat->child){
-                            KX_GameObject *gotar=getGameOb(dat->tar->id.name,sumolist);
+							PHY_IPhysicsController* physctr2 = 0;
+							if (dat->tar)
+							{
+								KX_GameObject *gotar=getGameOb(dat->tar->id.name,sumolist);
+								physctr2 = (PHY_IPhysicsController*) gotar->GetPhysicsController()->GetUserData();
+							}
+                            
                             PHY_IPhysicsController* physctrl = (PHY_IPhysicsController*) gameobj->GetPhysicsController()->GetUserData();
-                            PHY_IPhysicsController* physctr2 = (PHY_IPhysicsController*) gotar->GetPhysicsController()->GetUserData();
-                            kxscene->GetPhysicsEnvironment()->createConstraint(physctrl,physctr2,(PHY_ConstraintType)dat->type,(float)dat->pivX,(float)dat->pivY,(float)dat->pivZ,(float)dat->axX,(float)dat->axY,(float)dat->axZ);
+                            
+                            int constraintId = kxscene->GetPhysicsEnvironment()->createConstraint(physctrl,physctr2,(PHY_ConstraintType)dat->type,(float)dat->pivX,(float)dat->pivY,(float)dat->pivZ,(float)dat->axX,(float)dat->axY,(float)dat->axZ);
+							//if it is a generic 6DOF constraint, set all the limits accordingly
+							if (dat->type == PHY_GENERIC_6DOF_CONSTRAINT)
+							{
+								int dof;
+								int dofbit=1;
+								for (dof=0;dof<6;dof++)
+								{
+									if (dat->flag & dofbit)
+									{
+										kxscene->GetPhysicsEnvironment()->setConstraintParam(constraintId,dof,dat->minLimit[dof],dat->maxLimit[dof]);
+									} else
+									{
+										//minLimit > maxLimit means free(disabled limit) for this degree of freedom
+										kxscene->GetPhysicsEnvironment()->setConstraintParam(constraintId,dof,1,-1);
+									}
+									dofbit<<=1;
+								}
+							}
+
                         }
                 }
             }
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 37eb0ef76e3..db5de7c7d43 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -782,24 +782,37 @@ CcdPhysicsController* CcdPhysicsEnvironment::GetPhysicsController( int index)
 
 
 
-
+void	CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float value0,float value1)
+{
+	btTypedConstraint* typedConstraint = getConstraintById(constraintId);
+	switch (typedConstraint->getUserConstraintType())
+	{
+	case PHY_GENERIC_6DOF_CONSTRAINT:
+		{
+			//param = 1..12, min0,max0,min1,max1...min6,max6
+			btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
+			genCons->SetLimit(param,value0,value1);
+			break;
+		};
+	default:
+		{
+		};
+	};
+}
 
 btTypedConstraint*	CcdPhysicsEnvironment::getConstraintById(int constraintId)
 {
-	return 0;
-	/*
-	int numConstraint = m_constraints.size();
+
+	int numConstraints = m_dynamicsWorld->getNumConstraints();
 	int i;
-	for (i=0;i<numConstraint;i++)
+	for (i=0;i<numConstraints;i++)
 	{
-		btTypedConstraint* constraint = m_constraints[i];
+		btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
 		if (constraint->getUserConstraintId()==constraintId)
 		{
 			return constraint;
 		}
 	}
-	*/
-
 	return 0;
 }
 
@@ -1004,7 +1017,8 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 		return 0;
 
 	btVector3 pivotInA(pivotX,pivotY,pivotZ);
-	btVector3 pivotInB = rb1 ? rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
+	btVector3 pivotInB = rb1 ? rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA)) : 
+		rb0->getCenterOfMassTransform() * pivotInA;
 	btVector3 axisInA(axisX,axisY,axisZ);
 	btVector3 axisInB = rb1 ? 
 		(rb1->getCenterOfMassTransform().getBasis().inverse()*(rb0->getCenterOfMassTransform().getBasis() * axisInA)) : 
@@ -1072,17 +1086,41 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 
 			} else
 			{
-				// TODO: Implement single body case...
+				static btRigidBody s_fixedObject2( 0,0,0);
+					btTransform frameInA;
+				btTransform frameInB;
+				
+				btVector3 axis1, axis2;
+				btPlaneSpace1( axisInA, axis1, axis2 );
+
+				frameInA.getBasis().setValue( axisInA.x(), axis1.x(), axis2.x(),
+					                          axisInA.y(), axis1.y(), axis2.y(),
+											  axisInA.z(), axis1.z(), axis2.z() );
 
+	
+				btPlaneSpace1( axisInB, axis1, axis2 );
+				frameInB.getBasis().setValue( axisInB.x(), axis1.x(), axis2.x(),
+					                          axisInB.y(), axis1.y(), axis2.y(),
+											  axisInB.z(), axis1.z(), axis2.z() );
+
+				frameInA.setOrigin( pivotInA );
+				frameInB.setOrigin( pivotInB );
+
+
+				genericConstraint = new btGeneric6DofConstraint(
+					*rb0,s_fixedObject2,
+					frameInA,frameInB);
 			}
 			
-
-			//m_constraints.push_back(genericConstraint);
-			m_dynamicsWorld->addConstraint(genericConstraint);
-			genericConstraint->setUserConstraintId(gConstraintUid++);
-			genericConstraint->setUserConstraintType(type);
-			//64 bit systems can't cast pointer to int. could use size_t instead.
-			return genericConstraint->getUserConstraintId();
+			if (genericConstraint)
+			{
+				//m_constraints.push_back(genericConstraint);
+				m_dynamicsWorld->addConstraint(genericConstraint);
+				genericConstraint->setUserConstraintId(gConstraintUid++);
+				genericConstraint->setUserConstraintType(type);
+				//64 bit systems can't cast pointer to int. could use size_t instead.
+				return genericConstraint->getUserConstraintId();
+			} 
 
 			break;
 		}
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
index 05c9e2a6b03..9a8fc3f435d 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
@@ -131,6 +131,7 @@ protected:
 			const btVector3& angularMaxLimits
 			);
 
+		virtual void	setConstraintParam(int constraintId,int param,float value,float value1);
 
 	    virtual void		removeConstraint(int	constraintid);
 
diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
index 278f4eea9ca..bd4e00e9fa5 100644
--- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
@@ -83,6 +83,9 @@ public:
 		virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position) {return 0;}
 		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight) { return 0;}
 
+		virtual void	setConstraintParam(int constraintId,int param,float value,float value1)
+		{
+		}
 
 };
 
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
index 886bc8bb5fd..1afb9433500 100644
--- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
@@ -86,7 +86,9 @@ public:
 	virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position);
 	virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight);
 
-
+	virtual void	setConstraintParam(int constraintId,int param,float value,float value1)
+	{
+	}
 	SM_Scene* GetSumoScene()
 	{
 		return m_sumoScene;
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
index 2f3d8283d10..2716baa0d6d 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
@@ -107,6 +107,7 @@ class PHY_IPhysicsEnvironment
 		virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position) =0;
 		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight)=0;
 		
+		virtual void	setConstraintParam(int constraintId,int param,float value,float value1) = 0;
 };
 
 #endif //_IPHYSICSENVIRONMENT