1 files changed, 33 insertions, 3 deletions

diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
index a16e869a973..441fa375050 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
@@ -16,9 +16,10 @@ subject to the following restrictions:
 #ifndef BT_TYPED_CONSTRAINT_H
 #define BT_TYPED_CONSTRAINT_H
 
-class btRigidBody;
+
 #include "LinearMath/btScalar.h"
 #include "btSolverConstraint.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
 
 class btSerializer;
 
@@ -32,6 +33,7 @@ enum btTypedConstraintType
 	SLIDER_CONSTRAINT_TYPE,
 	CONTACT_CONSTRAINT_TYPE,
 	D6_SPRING_CONSTRAINT_TYPE,
+	GEAR_CONSTRAINT_TYPE,
 	MAX_CONSTRAINT_TYPE
 };
 
@@ -51,8 +53,17 @@ enum btConstraintParams
 #endif
 
 
+ATTRIBUTE_ALIGNED16(struct)	btJointFeedback
+{
+	btVector3	m_appliedForceBodyA;
+	btVector3	m_appliedTorqueBodyA;
+	btVector3	m_appliedForceBodyB;
+	btVector3	m_appliedTorqueBodyB;
+};
+
+
 ///TypedConstraint is the baseclass for Bullet constraints and vehicles
-class btTypedConstraint : public btTypedObject
+ATTRIBUTE_ALIGNED16(class) btTypedConstraint : public btTypedObject
 {
 	int	m_userConstraintType;
 
@@ -80,6 +91,7 @@ protected:
 	btRigidBody&	m_rbB;
 	btScalar	m_appliedImpulse;
 	btScalar	m_dbgDrawSize;
+	btJointFeedback*	m_jointFeedback;
 
 	///internal method used by the constraint solver, don't use them directly
 	btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact);
@@ -87,6 +99,8 @@ protected:
 
 public:
 
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	virtual ~btTypedConstraint() {};
 	btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA);
 	btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB);
@@ -195,7 +209,7 @@ public:
 
 
 	///internal method used by the constraint solver, don't use them directly
-	virtual	void	solveConstraintObsolete(btRigidBody& /*bodyA*/,btRigidBody& /*bodyB*/,btScalar	/*timeStep*/) {};
+	virtual	void	solveConstraintObsolete(btSolverBody& /*bodyA*/,btSolverBody& /*bodyB*/,btScalar	/*timeStep*/) {};
 
 	
 	const btRigidBody& getRigidBodyA() const
@@ -246,6 +260,22 @@ public:
 		return m_userConstraintPtr;
 	}
 
+	void	setJointFeedback(btJointFeedback* jointFeedback)
+	{
+		m_jointFeedback = jointFeedback;
+	}
+
+	const btJointFeedback* getJointFeedback() const
+	{
+		return m_jointFeedback;
+	}
+
+	btJointFeedback* getJointFeedback()
+	{
+		return m_jointFeedback;
+	}
+
+
 	int getUid() const
 	{
 		return m_userConstraintId;