1 files changed, 41 insertions, 2 deletions

diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
index 0ae161d5bdf..8082eb1f132 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
@@ -54,6 +54,7 @@ public:
     //! temp_variables
     //!@{
     btScalar m_currentLimitError;//!  How much is violated this limit
+    btScalar m_currentPosition;     //!  current value of angle 
     int m_currentLimit;//!< 0=free, 1=at lo limit, 2=at hi limit
     btScalar m_accumulatedImpulse;
     //!@}
@@ -134,6 +135,7 @@ public:
     btVector3	m_targetVelocity;//!< target motor velocity
     btVector3	m_maxMotorForce;//!< max force on motor
     btVector3	m_currentLimitError;//!  How much is violated this limit
+    btVector3	m_currentLinearDiff;//!  Current relative offset of constraint frames
     int			m_currentLimit[3];//!< 0=free, 1=at lower limit, 2=at upper limit
 
     btTranslationalLimitMotor()
@@ -380,14 +382,21 @@ public:
 
     //! Get the relative Euler angle
     /*!
-	\pre btGeneric6DofConstraint.buildJacobian must be called previously.
+	\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
 	*/
     btScalar getAngle(int axis_index) const;
 
+	//! Get the relative position of the constraint pivot
+    /*!
+	\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
+	*/
+	btScalar getRelativePivotPosition(int axis_index) const;
+
+
 	//! Test angular limit.
 	/*!
 	Calculates angular correction and returns true if limit needs to be corrected.
-	\pre btGeneric6DofConstraint.buildJacobian must be called previously.
+	\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
 	*/
     bool testAngularLimitMotor(int axis_index);
 
@@ -477,4 +486,34 @@ public:
 
 };
 
+
+/// Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF
+
+/// DOF index used in enableSpring() and setStiffness() means:
+/// 0 : translation X
+/// 1 : translation Y
+/// 2 : translation Z
+/// 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] )
+/// 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] )
+/// 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] )
+
+class btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
+{
+protected:
+	bool		m_springEnabled[6];
+	btScalar	m_equilibriumPoint[6];
+	btScalar	m_springStiffness[6];
+	btScalar	m_springDamping[6]; // between 0 and 1 (1 == no damping)
+	void internalUpdateSprings(btConstraintInfo2* info);
+public: 
+    btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
+	void enableSpring(int index, bool onOff);
+	void setStiffness(int index, btScalar stiffness);
+	void setDamping(int index, btScalar damping);
+	void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
+	void setEquilibriumPoint(int index);  // set the current constraint position/orientation as an equilibrium point for given DOF
+	virtual void getInfo2 (btConstraintInfo2* info);
+};
+
+
 #endif //GENERIC_6DOF_CONSTRAINT_H