+ bugfix in btAlignedObjectArray, not calling destructors on resize to smaller array.

Thanks Benoit for pointing this out, and bugfix: http://code.google.com/p/bullet/issues/detail?id=218

+ Added point to point, hinge, slider and generic 6dof constraints to Maya Dynamica plugin
Thanks to Herbert Law for the constribution: http://code.google.com/p/bullet/issues/detail?id=221

src/BulletDynamics/ConstraintSolver/btHingeConstraint.h

@@ -127,6 +127,29 @@ public:
 
 	}
 
+	void	setAxis(btVector3& axisInA = btVector3(0, 1, 0))
+	{
+		btVector3 rbAxisA1, rbAxisA2;
+		btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2);
+		btVector3 pivotInA = m_rbAFrame.getOrigin();
+//		m_rbAFrame.getOrigin() = pivotInA;
+		m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(),
+										rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(),
+										rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() );
+
+		btVector3 axisInB = m_rbA.getCenterOfMassTransform().getBasis() * axisInA;
+
+		btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB);
+		btVector3 rbAxisB1 =  quatRotate(rotationArc,rbAxisA1);
+		btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
+
+
+		m_rbBFrame.getOrigin() = m_rbA.getCenterOfMassTransform()(pivotInA);
+		m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(),
+										rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(),
+										rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
+	}
+
 	btScalar	getLowerLimit() const
 	{
 		return m_lowerLimit;
@@ -143,8 +166,11 @@ public:
 	void testLimit();
 
 
-	const btTransform& getAFrame() { return m_rbAFrame; };	
-	const btTransform& getBFrame() { return m_rbBFrame; };
+	const btTransform& getAFrame() const { return m_rbAFrame; };	
+	const btTransform& getBFrame() const { return m_rbBFrame; };
+
+	btTransform& getAFrame() { return m_rbAFrame; };	
+	btTransform& getBFrame() { return m_rbBFrame; };
 
 	inline int getSolveLimit()
 	{

src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp

@@ -88,6 +88,22 @@ btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const
 	initParams();
 } // btSliderConstraint::btSliderConstraint()
 
+//-----------------------------------------------------------------------------
+static btRigidBody s_fixed(0, 0, 0);
+btSliderConstraint::btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
+        : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, s_fixed, rbB)
+        ,
+        m_frameInB(frameInB),
+		m_useLinearReferenceFrameA(useLinearReferenceFrameB),
+		m_useSolveConstraintObsolete(false)
+//		m_useSolveConstraintObsolete(true)
+{
+	///not providing rigidbody B means implicitly using worldspace for body B
+//	m_frameInA.getOrigin() = m_rbA.getCenterOfMassTransform()(m_frameInA.getOrigin());
+
+	initParams();
+} // btSliderConstraint::btSliderConstraint()
+
 //-----------------------------------------------------------------------------
 
 void btSliderConstraint::buildJacobian()

src/BulletDynamics/ConstraintSolver/btSliderConstraint.h

@@ -126,6 +126,7 @@ protected:
 public:
 	// constructors
     btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
+    btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
     btSliderConstraint();
 	// overrides
     virtual void	buildJacobian();