First stage in refactoring Bullet: moved Bullet Collision and Dynamics and LinearMath into src folder, and all files in Collision Detection and Dynamics have bt prefix.

Made all buildsystems to work again (jam, msvc, cmake)

src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h

@@ -0,0 +1,114 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef GENERIC_6DOF_CONSTRAINT_H
+#define GENERIC_6DOF_CONSTRAINT_H
+
+#include "LinearMath/SimdVector3.h"
+
+#include "BulletDynamics/ConstraintSolver/btJacobianEntry.h"
+#include "btTypedConstraint.h"
+
+class RigidBody;
+
+
+
+/// Generic6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
+/// Generic6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'
+/// Work in progress (is still a Hinge actually)
+class Generic6DofConstraint : public TypedConstraint
+{
+	JacobianEntry	m_jacLinear[3];			// 3 orthogonal linear constraints
+	JacobianEntry	m_jacAng[3];		// 3 orthogonal angular constraints
+
+	SimdTransform	m_frameInA;			// the constraint space w.r.t body A
+	SimdTransform	m_frameInB;			// the constraint space w.r.t body B
+
+	SimdScalar      m_lowerLimit[6];	// the constraint lower limits
+	SimdScalar      m_upperLimit[6];	// the constraint upper limits
+
+	SimdScalar		m_accumulatedImpulse[6];
+
+		
+public:
+	Generic6DofConstraint(RigidBody& rbA, RigidBody& rbB, const SimdTransform& frameInA, const SimdTransform& frameInB );
+
+	Generic6DofConstraint();
+
+	virtual void	BuildJacobian();
+
+	virtual	void	SolveConstraint(SimdScalar	timeStep);
+
+	void	UpdateRHS(SimdScalar	timeStep);
+
+	SimdScalar ComputeAngle(int axis) const;
+
+	void	setLinearLowerLimit(const SimdVector3& linearLower)
+	{
+		m_lowerLimit[0] = linearLower.getX();
+		m_lowerLimit[1] = linearLower.getY();
+		m_lowerLimit[2] = linearLower.getZ();
+	}
+
+	void	setLinearUpperLimit(const SimdVector3& linearUpper)
+	{
+		m_upperLimit[0] = linearUpper.getX();
+		m_upperLimit[1] = linearUpper.getY();
+		m_upperLimit[2] = linearUpper.getZ();
+	}
+
+	void	setAngularLowerLimit(const SimdVector3& angularLower)
+	{
+		m_lowerLimit[3] = angularLower.getX();
+		m_lowerLimit[4] = angularLower.getY();
+		m_lowerLimit[5] = angularLower.getZ();
+	}
+
+	void	setAngularUpperLimit(const SimdVector3& angularUpper)
+	{
+		m_upperLimit[3] = angularUpper.getX();
+		m_upperLimit[4] = angularUpper.getY();
+		m_upperLimit[5] = angularUpper.getZ();
+	}
+
+	//first 3 are linear, next 3 are angular
+	void SetLimit(int axis, SimdScalar lo, SimdScalar hi)
+	{
+		m_lowerLimit[axis] = lo; 
+		m_upperLimit[axis] = hi; 
+	}
+
+	//free means upper < lower, 
+	//locked means upper == lower
+	//limited means upper > lower
+	//limitIndex: first 3 are linear, next 3 are angular
+	bool	isLimited(int limitIndex)
+	{
+		return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
+	}
+
+	const RigidBody& GetRigidBodyA() const
+	{
+		return m_rbA;
+	}
+	const RigidBody& GetRigidBodyB() const
+	{
+		return m_rbB;
+	}
+	
+
+};
+
+#endif //GENERIC_6DOF_CONSTRAINT_H