1 files changed, 60 insertions, 6 deletions

diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
index 1735b524dba..b7636180c34 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
@@ -170,6 +170,11 @@ public:
 	{
 		m_angularOnly = angularOnly;
 	}
+	
+	bool    getAngularOnly() const
+	{
+	    return m_angularOnly;
+	}
 
 	void	setLimit(int limitIndex,btScalar limitValue)
 	{
@@ -196,6 +201,33 @@ public:
 		};
 	}
 
+    btScalar getLimit(int limitIndex) const
+	{
+		switch (limitIndex)
+		{
+		case 3:
+			{
+				return m_twistSpan;
+				break;
+			}
+		case 4:
+			{
+				return m_swingSpan2;
+				break;
+			}
+		case 5:
+			{
+				return m_swingSpan1;
+				break;
+			}
+		default:
+			{
+			    btAssert(0 && "Invalid limitIndex specified for btConeTwistConstraint");
+			    return 0.0;
+			}
+		};
+	}
+
 	// setLimit(), a few notes:
 	// _softness:
 	//		0->1, recommend ~0.8->1.
@@ -218,8 +250,8 @@ public:
 		m_relaxationFactor = _relaxationFactor;
 	}
 
-	const btTransform& getAFrame() { return m_rbAFrame; };	
-	const btTransform& getBFrame() { return m_rbBFrame; };
+	const btTransform& getAFrame() const { return m_rbAFrame; };	
+	const btTransform& getBFrame() const { return m_rbBFrame; };
 
 	inline int getSolveTwistLimit()
 	{
@@ -239,27 +271,43 @@ public:
 	void calcAngleInfo();
 	void calcAngleInfo2(const btTransform& transA, const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);
 
-	inline btScalar getSwingSpan1()
+	inline btScalar getSwingSpan1() const
 	{
 		return m_swingSpan1;
 	}
-	inline btScalar getSwingSpan2()
+	inline btScalar getSwingSpan2() const
 	{
 		return m_swingSpan2;
 	}
-	inline btScalar getTwistSpan()
+	inline btScalar getTwistSpan() const
 	{
 		return m_twistSpan;
 	}
-	inline btScalar getTwistAngle()
+	inline btScalar getLimitSoftness() const
+	{
+		return m_limitSoftness;
+	}
+	inline btScalar getBiasFactor() const
+	{
+		return m_biasFactor;
+	}
+	inline btScalar getRelaxationFactor() const
+	{
+		return m_relaxationFactor;
+	}
+	inline btScalar getTwistAngle() const
 	{
 		return m_twistAngle;
 	}
 	bool isPastSwingLimit() { return m_solveSwingLimit; }
 
+	btScalar getDamping() const { return m_damping; }
 	void setDamping(btScalar damping) { m_damping = damping; }
 
 	void enableMotor(bool b) { m_bMotorEnabled = b; }
+	bool isMotorEnabled() const { return m_bMotorEnabled; }
+	btScalar getMaxMotorImpulse() const { return m_maxMotorImpulse; }
+	bool isMaxMotorImpulseNormalized() const { return m_bNormalizedMotorStrength; }
 	void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = false; }
 	void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = true; }
 
@@ -271,6 +319,7 @@ public:
 	// note: if q violates the joint limits, the internal target is clamped to avoid conflicting impulses (very bad for stability)
 	// note: don't forget to enableMotor()
 	void setMotorTarget(const btQuaternion &q);
+	const btQuaternion& getMotorTarget() const { return m_qTarget; }
 
 	// same as above, but q is the desired rotation of frameA wrt frameB in constraint space
 	void setMotorTargetInConstraintSpace(const btQuaternion &q);
@@ -297,6 +346,11 @@ public:
 	///return the local value of parameter
 	virtual	btScalar getParam(int num, int axis = -1) const;
 
+	int getFlags() const
+	{
+		return m_flags;
+	}
+
 	virtual	int	calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)