1 files changed, 68 insertions, 5 deletions

diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
index e2b865cd484..b589ee68254 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
@@ -22,6 +22,15 @@ subject to the following restrictions:
 
 class btRigidBody;
 
+
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btPoint2PointConstraintData	btPoint2PointConstraintDoubleData
+#define btPoint2PointConstraintDataName	"btPoint2PointConstraintDoubleData"
+#else
+#define btPoint2PointConstraintData	btPoint2PointConstraintFloatData
+#define btPoint2PointConstraintDataName	"btPoint2PointConstraintFloatData"
+#endif //BT_USE_DOUBLE_PRECISION
+
 struct	btConstraintSetting
 {
 	btConstraintSetting()	:
@@ -35,8 +44,14 @@ struct	btConstraintSetting
 	btScalar		m_impulseClamp;
 };
 
+enum btPoint2PointFlags
+{
+	BT_P2P_FLAGS_ERP = 1,
+	BT_P2P_FLAGS_CFM = 2
+};
+
 /// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
-class btPoint2PointConstraint : public btTypedConstraint
+ATTRIBUTE_ALIGNED16(class) btPoint2PointConstraint : public btTypedConstraint
 {
 #ifdef IN_PARALLELL_SOLVER
 public:
@@ -46,7 +61,9 @@ public:
 	btVector3	m_pivotInA;
 	btVector3	m_pivotInB;
 	
-	
+	int			m_flags;
+	btScalar	m_erp;
+	btScalar	m_cfm;
 	
 public:
 
@@ -59,16 +76,16 @@ public:
 
 	btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA);
 
-	btPoint2PointConstraint();
 
 	virtual void	buildJacobian();
 
 	virtual void getInfo1 (btConstraintInfo1* info);
 
-	virtual void getInfo2 (btConstraintInfo2* info);
+	void getInfo1NonVirtual (btConstraintInfo1* info);
 
+	virtual void getInfo2 (btConstraintInfo2* info);
 
-	virtual	void	solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep);
+	void getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans);
 
 	void	updateRHS(btScalar	timeStep);
 
@@ -92,7 +109,53 @@ public:
 		return m_pivotInB;
 	}
 
+	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+	///If no axis is provided, it uses the default axis for this constraint.
+	virtual	void	setParam(int num, btScalar value, int axis = -1);
+	///return the local value of parameter
+	virtual	btScalar getParam(int num, int axis = -1) const;
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
 
 };
 
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btPoint2PointConstraintFloatData
+{
+	btTypedConstraintData	m_typeConstraintData;
+	btVector3FloatData	m_pivotInA;
+	btVector3FloatData	m_pivotInB;
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btPoint2PointConstraintDoubleData
+{
+	btTypedConstraintData	m_typeConstraintData;
+	btVector3DoubleData	m_pivotInA;
+	btVector3DoubleData	m_pivotInB;
+};
+
+
+SIMD_FORCE_INLINE	int	btPoint2PointConstraint::calculateSerializeBufferSize() const
+{
+	return sizeof(btPoint2PointConstraintData);
+
+}
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btPoint2PointConstraintData* p2pData = (btPoint2PointConstraintData*)dataBuffer;
+
+	btTypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer);
+	m_pivotInA.serialize(p2pData->m_pivotInA);
+	m_pivotInB.serialize(p2pData->m_pivotInB);
+
+	return btPoint2PointConstraintDataName;
+}
+
 #endif //POINT2POINTCONSTRAINT_H