reverted to old hinge constraint, it breaks several tests/demos

1 files changed, 9 insertions, 55 deletions

diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
index 4b42d3d2acd..5c1ceafbc5b 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
@@ -13,8 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-/* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */
-
 #ifndef HINGECONSTRAINT_H
 #define HINGECONSTRAINT_H
 
@@ -24,6 +22,7 @@ subject to the following restrictions:
 
 class btRigidBody;
 
+
 /// 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
 class btHingeConstraint : public btTypedConstraint
@@ -31,40 +30,22 @@ class btHingeConstraint : public btTypedConstraint
 	btJacobianEntry	m_jac[3]; //3 orthogonal linear constraints
 	btJacobianEntry	m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor
 
-	btTransform m_rbAFrame; // constraint axii. Assumes z is hinge axis.
-	btTransform m_rbBFrame;
-
-	btScalar	m_motorTargetVelocity;
-	btScalar	m_maxMotorImpulse;
-
-	btScalar	m_limitSoftness; 
-	btScalar	m_biasFactor; 
-	btScalar    m_relaxationFactor; 
-
-	btScalar    m_lowerLimit;	
-	btScalar    m_upperLimit;	
-	
-	btScalar	m_kHinge;
-
-	btScalar	m_limitSign;
-	btScalar	m_correction;
-
-	btScalar	m_accLimitImpulse;
+	btVector3	m_pivotInA;
+	btVector3	m_pivotInB;
+	btVector3	m_axisInA;
+	btVector3	m_axisInB;
 
 	bool		m_angularOnly;
-	bool		m_enableAngularMotor;
-	bool		m_solveLimit;
 
+	btScalar		m_motorTargetVelocity;
+	btScalar		m_maxMotorImpulse;
+	bool		m_enableAngularMotor;
 	
 public:
 
-	btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btVector3& axisInA,btVector3& axisInB);
+	btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB,btVector3& axisInA,btVector3& axisInB);
 
 	btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA);
-	
-	btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame);
-
-	btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
 
 	btHingeConstraint();
 
@@ -95,33 +76,6 @@ public:
 		m_maxMotorImpulse = maxMotorImpulse;
 	}
 
-	void	setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
-	{
-		m_lowerLimit = low;
-		m_upperLimit = high;
-
-		m_limitSoftness =  _softness;
-		m_biasFactor = _biasFactor;
-		m_relaxationFactor = _relaxationFactor;
-
-	}
-
-	btScalar getHingeAngle();
-
-
-	const btTransform& getAFrame() { return m_rbAFrame; };	
-	const btTransform& getBFrame() { return m_rbBFrame; };
-
-	inline int getSolveLimit()
-	{
-		return m_solveLimit;
-	}
-
-	inline btScalar getLimitSign()
-	{
-		return m_limitSign;
-	}
-		
 };
 
 #endif //HINGECONSTRAINT_H