1 files changed, 8 insertions, 157 deletions

diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp
index 3428e0b069d..75d81cc08c2 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp
@@ -21,166 +21,17 @@ subject to the following restrictions:
 
 
 btFixedConstraint::btFixedConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& frameInA,const btTransform& frameInB)
-:btTypedConstraint(FIXED_CONSTRAINT_TYPE,rbA,rbB)
-{
-	m_frameInA = frameInA;
-	m_frameInB = frameInB;
-
-}
-
-btFixedConstraint::~btFixedConstraint ()
+:btGeneric6DofSpring2Constraint(rbA,rbB,frameInA,frameInB)
 {
+	setAngularLowerLimit(btVector3(0,0,0));
+	setAngularUpperLimit(btVector3(0,0,0));
+	setLinearLowerLimit(btVector3(0,0,0));
+	setLinearUpperLimit(btVector3(0,0,0));
 }
 
-	
-void btFixedConstraint::getInfo1 (btConstraintInfo1* info)
-{
-	info->m_numConstraintRows = 6;
-	info->nub = 0;
-}
-
-void btFixedConstraint::getInfo2 (btConstraintInfo2* info)
-{
-	//fix the 3 linear degrees of freedom
-
-	const btTransform& transA = m_rbA.getCenterOfMassTransform();
-	const btTransform& transB = m_rbB.getCenterOfMassTransform();
-
-	const btVector3& worldPosA = m_rbA.getCenterOfMassTransform().getOrigin();
-	const btMatrix3x3& worldOrnA = m_rbA.getCenterOfMassTransform().getBasis();
-	const btVector3& worldPosB= m_rbB.getCenterOfMassTransform().getOrigin();
-	const btMatrix3x3& worldOrnB = m_rbB.getCenterOfMassTransform().getBasis();
-	
 
-	info->m_J1linearAxis[0] = 1;
-	info->m_J1linearAxis[info->rowskip+1] = 1;
-	info->m_J1linearAxis[2*info->rowskip+2] = 1;
 
-	btVector3 a1 = worldOrnA * m_frameInA.getOrigin();
-    {
-		btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
-		btVector3* angular1 = (btVector3*)(info->m_J1angularAxis+info->rowskip);
-		btVector3* angular2 = (btVector3*)(info->m_J1angularAxis+2*info->rowskip);
-		btVector3 a1neg = -a1;
-		a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
-	}
 
-	if (info->m_J2linearAxis)
-	{
-		info->m_J2linearAxis[0] = -1;
-		info->m_J2linearAxis[info->rowskip+1] = -1;
-		info->m_J2linearAxis[2*info->rowskip+2] = -1;
-	}
-	
-	btVector3 a2 = worldOrnB*m_frameInB.getOrigin();
-   {
-		btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
-		btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip);
-		btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip);
-		a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
-	}
-
-    // set right hand side for the linear dofs
-	btScalar k = info->fps * info->erp;
-	
-	btVector3 linearError = k*(a2+worldPosB-a1-worldPosA);
-    int j;
-	for (j=0; j<3; j++)
-    {
-        info->m_constraintError[j*info->rowskip] = linearError[j];
-		//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
-    }
-
-	btVector3 ivA = transA.getBasis() * m_frameInA.getBasis().getColumn(0);
-	btVector3 jvA = transA.getBasis() * m_frameInA.getBasis().getColumn(1);
-	btVector3 kvA = transA.getBasis() * m_frameInA.getBasis().getColumn(2);
-	btVector3 ivB = transB.getBasis() * m_frameInB.getBasis().getColumn(0);
-	btVector3 target;
-	btScalar x = ivB.dot(ivA);
-	btScalar y = ivB.dot(jvA);
-	btScalar z = ivB.dot(kvA);
-	btVector3 swingAxis(0,0,0);
-	{ 
-		if((!btFuzzyZero(y)) || (!(btFuzzyZero(z))))
-		{
-			swingAxis = -ivB.cross(ivA);
-		}
-	}
-	btVector3 vTwist(1,0,0);
-
-	// compute rotation of A wrt B (in constraint space)
-	btQuaternion qA = transA.getRotation() * m_frameInA.getRotation();
-	btQuaternion qB = transB.getRotation() * m_frameInB.getRotation();
-	btQuaternion qAB = qB.inverse() * qA;
-	// split rotation into cone and twist
-	// (all this is done from B's perspective. Maybe I should be averaging axes...)
-	btVector3 vConeNoTwist = quatRotate(qAB, vTwist); vConeNoTwist.normalize();
-	btQuaternion qABCone  = shortestArcQuat(vTwist, vConeNoTwist); qABCone.normalize();
-	btQuaternion qABTwist = qABCone.inverse() * qAB; qABTwist.normalize();
-
-	int row = 3;
-    int srow = row * info->rowskip;
-	btVector3 ax1;
-	// angular limits
-	{
-		btScalar *J1 = info->m_J1angularAxis;
-		btScalar *J2 = info->m_J2angularAxis;
-		btTransform trA = transA*m_frameInA;
-		btVector3 twistAxis = trA.getBasis().getColumn(0);
-
-		btVector3 p = trA.getBasis().getColumn(1);
-		btVector3 q = trA.getBasis().getColumn(2);
-		int srow1 = srow + info->rowskip;
-		J1[srow+0] = p[0];
-		J1[srow+1] = p[1];
-		J1[srow+2] = p[2];
-		J1[srow1+0] = q[0];
-		J1[srow1+1] = q[1];
-		J1[srow1+2] = q[2];
-		J2[srow+0] = -p[0];
-		J2[srow+1] = -p[1];
-		J2[srow+2] = -p[2];
-		J2[srow1+0] = -q[0];
-		J2[srow1+1] = -q[1];
-		J2[srow1+2] = -q[2];
-		btScalar fact = info->fps;
-		info->m_constraintError[srow] =   fact * swingAxis.dot(p);
-		info->m_constraintError[srow1] =  fact * swingAxis.dot(q);
-		info->m_lowerLimit[srow] = -SIMD_INFINITY;
-		info->m_upperLimit[srow] = SIMD_INFINITY;
-		info->m_lowerLimit[srow1] = -SIMD_INFINITY;
-		info->m_upperLimit[srow1] = SIMD_INFINITY;
-		srow = srow1 + info->rowskip;
-
-		{
-			btQuaternion qMinTwist = qABTwist;
-			btScalar twistAngle = qABTwist.getAngle();
-
-			if (twistAngle > SIMD_PI) // long way around. flip quat and recalculate.
-			{
-				qMinTwist = -(qABTwist);
-				twistAngle = qMinTwist.getAngle();
-			}
-
-			if (twistAngle > SIMD_EPSILON)
-			{
-				twistAxis = btVector3(qMinTwist.x(), qMinTwist.y(), qMinTwist.z());
-				twistAxis.normalize();
-				twistAxis = quatRotate(qB, -twistAxis);
-			}
-			ax1 = twistAxis;
-			btScalar *J1 = info->m_J1angularAxis;
-			btScalar *J2 = info->m_J2angularAxis;
-			J1[srow+0] = ax1[0];
-			J1[srow+1] = ax1[1];
-			J1[srow+2] = ax1[2];
-			J2[srow+0] = -ax1[0];
-			J2[srow+1] = -ax1[1];
-			J2[srow+2] = -ax1[2];
-			btScalar k = info->fps;
-			info->m_constraintError[srow] = k * twistAngle;
-			info->m_lowerLimit[srow] = -SIMD_INFINITY;
-			info->m_upperLimit[srow] = SIMD_INFINITY;
-		}
-	}
-}
\ No newline at end of file
+btFixedConstraint::~btFixedConstraint ()
+{
+}