1 files changed, 56 insertions, 0 deletions
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.h b/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.h
new file mode 100644
index 00000000000..85e13cde21e
--- /dev/null
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.h
@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef POINT2POINTCONSTRAINT_H
+#define POINT2POINTCONSTRAINT_H
+
+#include "SimdVector3.h"
+
+#include "ConstraintSolver/JacobianEntry.h"
+class RigidBody;
+
+
+/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
+class Point2PointConstraint
+{
+	JacobianEntry	m_jac[3]; //3 orthogonal linear constraints
+	RigidBody&	m_rbA;
+	RigidBody&	m_rbB;
+
+	SimdVector3	m_pivotInA;
+	SimdVector3	m_pivotInB;
+	
+public:
+
+	Point2PointConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB);
+
+	Point2PointConstraint(RigidBody& rbA,const SimdVector3& pivotInA);
+
+	Point2PointConstraint();
+
+	void	BuildJacobian();
+
+	void	SolveConstraint(SimdScalar	timeStep);
+
+	void	UpdateRHS(SimdScalar	timeStep);
+
+	const RigidBody& GetRigidBodyA() const
+	{
+		return m_rbA;
+	}
+	const RigidBody& GetRigidBodyB() const
+	{
+		return m_rbB;
+	}
+
+
+};
+
+#endif //POINT2POINTCONSTRAINT_H