1 files changed, 78 insertions, 0 deletions
diff --git a/extern/bullet/BulletDynamics/Dynamics/BU_Joint.h b/extern/bullet/BulletDynamics/Dynamics/BU_Joint.h
new file mode 100644
index 00000000000..72536d6c2cf
--- /dev/null
+++ b/extern/bullet/BulletDynamics/Dynamics/BU_Joint.h
@@ -0,0 +1,78 @@
+#ifndef BU_Joint_H
+#define BU_Joint_H
+
+class RigidBody;
+class BU_Joint;
+#include "SimdScalar.h"
+
+struct BU_ContactJointNode {
+  BU_Joint *joint;		// pointer to enclosing BU_Joint object
+  RigidBody*body;			// *other* body this joint is connected to
+};
+typedef SimdScalar dVector3[4];
+
+
+class BU_Joint  {
+  
+public:
+	// naming convention: the "first" body this is connected to is node[0].body,
+  // and the "second" body is node[1].body. if this joint is only connected
+  // to one body then the second body is 0.
+
+  // info returned by getInfo1 function. the constraint dimension is m (<=6).
+  // i.e. that is the total number of rows in the jacobian. `nub' is the
+  // number of unbounded variables (which have lo,hi = -/+ infinity).
+
+  BU_Joint();
+  virtual ~BU_Joint();
+  
+
+  struct Info1 {
+    int m,nub;
+  };
+
+  // info returned by getInfo2 function
+
+  struct Info2 {
+    // integrator parameters: frames per second (1/stepsize), default error
+    // reduction parameter (0..1).
+    SimdScalar fps,erp;
+
+    // for the first and second body, pointers to two (linear and angular)
+    // n*3 jacobian sub matrices, stored by rows. these matrices will have
+    // been initialized to 0 on entry. if the second body is zero then the
+    // J2xx pointers may be 0.
+    SimdScalar *J1l,*J1a,*J2l,*J2a;
+
+    // elements to jump from one row to the next in J's
+    int rowskip;
+
+    // right hand sides of the equation J*v = c + cfm * lambda. cfm is the
+    // "constraint force mixing" vector. c is set to zero on entry, cfm is
+    // set to a constant value (typically very small or zero) value on entry.
+    SimdScalar *c,*cfm;
+
+    // lo and hi limits for variables (set to -/+ infinity on entry).
+    SimdScalar *lo,*hi;
+
+    // findex vector for variables. see the LCP solver interface for a
+    // description of what this does. this is set to -1 on entry.
+    // note that the returned indexes are relative to the first index of
+    // the constraint.
+    int *findex;
+  };
+
+  // virtual function table: size of the joint structure, function pointers.
+  // we do it this way instead of using C++ virtual functions because
+  // sometimes we need to allocate joints ourself within a memory pool.
+
+  virtual void GetInfo1 (Info1 *info)=0;
+  virtual void GetInfo2 (Info2 *info)=0;
+
+  int flags;			// dJOINT_xxx flags
+  BU_ContactJointNode node[2];		// connections to bodies. node[1].body can be 0
+   SimdScalar lambda[6];		// lambda generated by last step
+};
+
+
+#endif //BU_Joint_H