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BulletDynamics/ConstraintSolver/HingeConstraint.h

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+/*
+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 HINGECONSTRAINT_H
+#define HINGECONSTRAINT_H
+
+#include "SimdVector3.h"
+
+#include "ConstraintSolver/JacobianEntry.h"
+#include "TypedConstraint.h"
+
+class RigidBody;
+
+
+/// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
+/// axis defines the orientation of the hinge axis
+class HingeConstraint : public TypedConstraint
+{
+	JacobianEntry	m_jac[3]; //3 orthogonal linear constraints
+	JacobianEntry	m_jacAng[2]; //2 orthogonal angular constraints
+
+	SimdVector3	m_pivotInA;
+	SimdVector3	m_pivotInB;
+	SimdVector3	m_axisInA;
+	SimdVector3	m_axisInB;
+
+	bool	m_angularOnly;
+	
+public:
+
+	HingeConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB,SimdVector3& axisInA,SimdVector3& axisInB);
+
+	HingeConstraint(RigidBody& rbA,const SimdVector3& pivotInA,SimdVector3& axisInA);
+
+	HingeConstraint();
+
+	virtual void	BuildJacobian();
+
+	virtual	void	SolveConstraint(SimdScalar	timeStep);
+
+	void	UpdateRHS(SimdScalar	timeStep);
+
+	const RigidBody& GetRigidBodyA() const
+	{
+		return m_rbA;
+	}
+	const RigidBody& GetRigidBodyB() const
+	{
+		return m_rbB;
+	}
+
+	void	setAngularOnly(bool angularOnly)
+	{
+		m_angularOnly = angularOnly;
+	}
+
+
+
+};
+
+#endif //HINGECONSTRAINT_H