contribution from RCRuiz:

drawing of rigidbody constraint pivots, and allow passing of full constraint frame.

7 files changed, 37 insertions, 10 deletions

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index edd4c2e2bb4..57fe533825e 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -1002,7 +1002,10 @@ PHY_IPhysicsController*	CcdPhysicsEnvironment::CreateSphereController(float radi
 
 int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl0,class PHY_IPhysicsController* ctrl1,PHY_ConstraintType type,
 													float pivotX,float pivotY,float pivotZ,
-													float axisX,float axisY,float axisZ)
+													float axisX,float axisY,float axisZ,
+													float axis1X,float axis1Y,float axis1Z,
+													float axis2X,float axis2Y,float axis2Z
+													)
 {
 
 
@@ -1066,9 +1069,12 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 				btTransform frameInA;
 				btTransform frameInB;
 				
-				btVector3 axis1, axis2;
-				btPlaneSpace1( axisInA, axis1, axis2 );
-
+				btVector3 axis1(axis1X,axis1Y,axis1Z), axis2(axis2X,axis2Y,axis2Z);
+				if (axis1.length() == 0.0)
+				{
+					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() );
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
index 9a8fc3f435d..66a6ed59c17 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
@@ -117,7 +117,10 @@ protected:
 
 		virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
 			float pivotX,float pivotY,float pivotZ,
-			float axisX,float axisY,float axisZ);
+			float axisX,float axisY,float axisZ,
+			float axis1X=0,float axis1Y=0,float axis1Z=0,
+			float axis2X=0,float axis2Y=0,float axis2Z=0
+			);
 
 
 		//Following the COLLADA physics specification for constraints
diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp
index 0532a9a8cf7..b40d1b430bb 100644
--- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp
@@ -93,7 +93,11 @@ void DummyPhysicsEnvironment::setGravity(float x,float y,float z)
 
 
 int			DummyPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
-		float pivotX,float pivotY,float pivotZ,float axisX,float axisY,float axisZ)
+		float pivotX,float pivotY,float pivotZ,float axisX,float axisY,float axisZ,
+			float axis1X,float axis1Y,float axis1Z,
+			float axis2X,float axis2Y,float axis2Z
+
+		)
 {
 	
 	int constraintid = 0;
diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
index bd4e00e9fa5..4fc970da699 100644
--- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
@@ -59,7 +59,10 @@ public:
 
 	virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
 			float pivotX,float pivotY,float pivotZ,
-			float axisX,float axisY,float axisZ);
+			float axisX,float axisY,float axisZ,
+			float axis1X=0,float axis1Y=0,float axis1Z=0,
+			float axis2X=0,float axis2Y=0,float axis2Z=0
+			);
 
 	virtual void		removeConstraint(int	constraintid);
 
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
index ead6dcc0106..6cdf1d41dc1 100644
--- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
@@ -111,7 +111,11 @@ int SumoPhysicsEnvironment::createConstraint(
 	class PHY_IPhysicsController* ctrl2,
 	PHY_ConstraintType type,
 	float pivotX,float pivotY,float pivotZ,
-	float axisX,float axisY,float axisZ)
+	float axisX,float axisY,float axisZ,
+	float axis1X,float axis1Y,float axis1Z,
+	float axis2X,float axis2Y,float axis2Z
+
+	)
 {
 	int constraintid = 0;
 	return constraintid;
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
index 1afb9433500..4d17d0c21fd 100644
--- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
@@ -64,7 +64,11 @@ public:
 	virtual	void		setGravity(float x,float y,float z);
 	virtual int		createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
 			float pivotX,float pivotY,float pivotZ,
-			float axisX,float axisY,float axisZ);
+			float axisX,float axisY,float axisZ,
+			float axis1X=0,float axis1Y=0,float axis1Z=0,
+			float axis2X=0,float axis2Y=0,float axis2Z=0
+
+			);
 
 	virtual void		removeConstraint(int	constraintid);
 
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
index 2716baa0d6d..5e4fd681914 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
@@ -86,7 +86,10 @@ class PHY_IPhysicsEnvironment
 
 		virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
 			float pivotX,float pivotY,float pivotZ,
-			float axisX,float axisY,float axisZ)=0;
+			float axis0X,float axis0Y,float axis0Z,
+			float axis1X=0,float axis1Y=0,float axis1Z=0,
+			float axis2X=0,float axis2Y=0,float axis2Z=0
+		)=0;
 		virtual void		removeConstraint(int	constraintid)=0;
 		virtual float		getAppliedImpulse(int	constraintid){ return 0.f;}