1 files changed, 25 insertions, 5 deletions

diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
index 4fa9972f6d8..0af655f4409 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
@@ -53,27 +53,35 @@ public:
 	btScalar	m_correction;
 
 	btScalar	m_accLimitImpulse;
+	btScalar	m_hingeAngle;
+	btScalar    m_referenceSign;
 
 	bool		m_angularOnly;
 	bool		m_enableAngularMotor;
 	bool		m_solveLimit;
+	bool		m_useSolveConstraintObsolete;
+	bool		m_useReferenceFrameA;
 
 	
 public:
 
-	btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btVector3& axisInA,btVector3& axisInB);
+	btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btVector3& axisInA,btVector3& axisInB, bool useReferenceFrameA = false);
 
-	btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA);
+	btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA, bool useReferenceFrameA = false);
 	
-	btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame);
+	btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false);
 
-	btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
+	btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false);
 
 	btHingeConstraint();
 
 	virtual void	buildJacobian();
 
-	virtual	void	solveConstraint(btScalar	timeStep);
+	virtual void getInfo1 (btConstraintInfo1* info);
+
+	virtual void getInfo2 (btConstraintInfo2* info);
+	
+	virtual	void	solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep);
 
 	void	updateRHS(btScalar	timeStep);
 
@@ -86,6 +94,16 @@ public:
 		return m_rbB;
 	}
 
+	btRigidBody& getRigidBodyA()	
+	{		
+		return m_rbA;	
+	}	
+
+	btRigidBody& getRigidBodyB()	
+	{		
+		return m_rbB;	
+	}	
+	
 	void	setAngularOnly(bool angularOnly)
 	{
 		m_angularOnly = angularOnly;
@@ -122,6 +140,8 @@ public:
 
 	btScalar getHingeAngle();
 
+	void testLimit();
+
 
 	const btTransform& getAFrame() { return m_rbAFrame; };	
 	const btTransform& getBFrame() { return m_rbBFrame; };