Add some accessor methods to btHingeConstraint and btSliderConstraint, to allow conversion.

Thanks to Roman Ponomarev.

src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp

@@ -403,3 +403,4 @@ btScalar btHingeConstraint::getHingeAngle()
 
 	return btAtan2Fast( swingAxis.dot(refAxis0), swingAxis.dot(refAxis1)  );
 }
+

src/BulletDynamics/ConstraintSolver/btHingeConstraint.h

@@ -136,6 +136,23 @@ public:
 		return m_limitSign;
 	}
 
+	inline bool getAngularOnly() 
+	{ 
+		return m_angularOnly; 
+	}
+	inline bool getEnableAngularMotor() 
+	{ 
+		return m_enableAngularMotor; 
+	}
+	inline btScalar getMotorTargetVelosity() 
+	{ 
+		return m_motorTargetVelocity; 
+	}
+	inline btScalar getMaxMotorImpulse() 
+	{ 
+		return m_maxMotorImpulse; 
+	}
+
 };
 
 #endif //HINGECONSTRAINT_H

src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp

@@ -395,3 +395,20 @@ void btSliderConstraint::testAngLimits(void)
 //-----------------------------------------------------------------------------
 
 
+
+btVector3 btSliderConstraint::getAncorInA(void)
+{
+	btVector3 ancorInA;
+	ancorInA = m_realPivotAInW + (m_lowerLinLimit + m_upperLinLimit) * btScalar(0.5) * m_sliderAxis;
+	ancorInA = m_rbA.getCenterOfMassTransform().inverse() * ancorInA;
+	return ancorInA;
+} // btSliderConstraint::getAncorInA()
+
+//-----------------------------------------------------------------------------
+
+btVector3 btSliderConstraint::getAncorInB(void)
+{
+	btVector3 ancorInB;
+	ancorInB = m_frameInB.getOrigin();
+	return ancorInB;
+} // btSliderConstraint::getAncorInB();

src/BulletDynamics/ConstraintSolver/btSliderConstraint.h

@@ -204,6 +204,9 @@ public:
 	void	calculateTransforms(void);
 	void	testLinLimits(void);
 	void	testAngLimits(void);
+	// access for PE Solver
+	btVector3 getAncorInA(void);
+	btVector3 getAncorInB(void);
 };
 
 //-----------------------------------------------------------------------------