3D Physics Rework, Other Stuff

-=-=-=-=-=-=-=-=-=-=-=-=-=-

3D Physics:
-Fixed "Bounce" parameter in 3D
-Fixed bug affecting Area (sometims it would not detect properly)
-Vehicle Body has seen heavy work
-Added Query API for doing space queries in 3D. Needs some docs though.
-Added JOINTS! Adapted Bullet Joints: and created easy gizmos for setting them up:
   -PinJoint
   -HingeJoint (with motor)
   -SliderJoint
   -ConeTwistJoint
   -Generic6DOFJoint
-Added OBJECT PICKING! based on the new query API. Any physics object now (Area or Body) has the following signals and virtual functions:
    -input_event (mouse or multitouch input over the body)
    -mouse_enter (mouse entered the body area)
    -mouse_exit (mouse exited body area)
   For Area it needs to be activated manually, as it isn't by default (ray goes thru).

Other:

-Begun working on Windows 8 (RT) port. Compiles but does not work yet.
-Added TheoraPlayer library for improved to-texture and portable video support.
-Fixed a few bugs in the renderer, collada importer, collada exporter, etc.

13 files changed, 3118 insertions, 0 deletions

diff --git a/servers/physics/joints/SCsub b/servers/physics/joints/SCsub
new file mode 100644
index 0000000000..97d6edea21
--- /dev/null
+++ b/servers/physics/joints/SCsub
@@ -0,0 +1,8 @@
+Import('env')
+
+env.add_source_files(env.servers_sources,"*.cpp")
+
+Export('env')
+
+
+
diff --git a/servers/physics/joints/cone_twist_joint_sw.cpp b/servers/physics/joints/cone_twist_joint_sw.cpp
new file mode 100644
index 0000000000..d97d8c599f
--- /dev/null
+++ b/servers/physics/joints/cone_twist_joint_sw.cpp
@@ -0,0 +1,340 @@
+#include "cone_twist_joint_sw.h"
+
+static void plane_space(const Vector3& n, Vector3& p, Vector3& q) {
+
+  if (Math::abs(n.z) > 0.707106781186547524400844362) {
+    // choose p in y-z plane
+    real_t a = n[1]*n[1] + n[2]*n[2];
+    real_t k = 1.0/Math::sqrt(a);
+    p=Vector3(0,-n[2]*k,n[1]*k);
+    // set q = n x p
+    q=Vector3(a*k,-n[0]*p[2],n[0]*p[1]);
+  }
+  else {
+    // choose p in x-y plane
+    real_t a = n.x*n.x + n.y*n.y;
+    real_t k = 1.0/Math::sqrt(a);
+    p=Vector3(-n.y*k,n.x*k,0);
+    // set q = n x p
+    q=Vector3(-n.z*p.y,n.z*p.x,a*k);
+  }
+}
+
+
+static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x)
+{
+	real_t coeff_1 = Math_PI / 4.0f;
+	real_t coeff_2 = 3.0f * coeff_1;
+	real_t abs_y = Math::abs(y);
+	real_t angle;
+	if (x >= 0.0f) {
+		real_t r = (x - abs_y) / (x + abs_y);
+		angle = coeff_1 - coeff_1 * r;
+	} else {
+		real_t r = (x + abs_y) / (abs_y - x);
+		angle = coeff_2 - coeff_1 * r;
+	}
+	return (y < 0.0f) ? -angle : angle;
+}
+
+ConeTwistJointSW::ConeTwistJointSW(BodySW* rbA,BodySW* rbB,const Transform& rbAFrame, const Transform& rbBFrame) :  JointSW(_arr,2) {
+
+	A=rbA;
+	B=rbB;
+
+
+	m_rbAFrame=rbAFrame;
+	m_rbBFrame=rbBFrame;
+
+	m_swingSpan1 = Math_PI/4.0;
+	m_swingSpan2 = Math_PI/4.0;
+	m_twistSpan  = Math_PI*2;
+	m_biasFactor = 0.3f;
+	m_relaxationFactor = 1.0f;
+
+	m_solveTwistLimit = false;
+	m_solveSwingLimit = false;
+
+	A->add_constraint(this,0);
+	B->add_constraint(this,1);
+
+	m_appliedImpulse=0;
+}
+
+
+bool	ConeTwistJointSW::setup(float p_step) {
+	m_appliedImpulse = real_t(0.);
+
+	//set bias, sign, clear accumulator
+	m_swingCorrection = real_t(0.);
+	m_twistLimitSign = real_t(0.);
+	m_solveTwistLimit = false;
+	m_solveSwingLimit = false;
+	m_accTwistLimitImpulse = real_t(0.);
+	m_accSwingLimitImpulse = real_t(0.);
+
+	if (!m_angularOnly)
+	{
+		Vector3 pivotAInW = A->get_transform().xform(m_rbAFrame.origin);
+		Vector3 pivotBInW = B->get_transform().xform(m_rbBFrame.origin);
+		Vector3 relPos = pivotBInW - pivotAInW;
+
+		Vector3 normal[3];
+		if (relPos.length_squared() > CMP_EPSILON)
+		{
+			normal[0] = relPos.normalized();
+		}
+		else
+		{
+			normal[0]=Vector3(real_t(1.0),0,0);
+		}
+
+		plane_space(normal[0], normal[1], normal[2]);
+
+		for (int i=0;i<3;i++)
+		{
+			memnew_placement(&m_jac[i], JacobianEntrySW(
+				A->get_transform().basis.transposed(),
+				B->get_transform().basis.transposed(),
+				pivotAInW - A->get_transform().origin,
+				pivotBInW - B->get_transform().origin,
+				normal[i],
+				A->get_inv_inertia(),
+				A->get_inv_mass(),
+				B->get_inv_inertia(),
+				B->get_inv_mass()));
+		}
+	}
+
+	Vector3 b1Axis1,b1Axis2,b1Axis3;
+	Vector3 b2Axis1,b2Axis2;
+
+	b1Axis1 = A->get_transform().basis.xform( this->m_rbAFrame.basis.get_axis(0) );
+	b2Axis1 = B->get_transform().basis.xform( this->m_rbBFrame.basis.get_axis(0) );
+
+	real_t swing1=real_t(0.),swing2 = real_t(0.);
+
+	real_t swx=real_t(0.),swy = real_t(0.);
+	real_t thresh = real_t(10.);
+	real_t fact;
+
+	// Get Frame into world space
+	if (m_swingSpan1 >= real_t(0.05f))
+	{
+		b1Axis2 = A->get_transform().basis.xform( this->m_rbAFrame.basis.get_axis(1) );
+//		swing1  = btAtan2Fast( b2Axis1.dot(b1Axis2),b2Axis1.dot(b1Axis1) );
+		swx = b2Axis1.dot(b1Axis1);
+		swy = b2Axis1.dot(b1Axis2);
+		swing1  = atan2fast(swy, swx);
+		fact = (swy*swy + swx*swx) * thresh * thresh;
+		fact = fact / (fact + real_t(1.0));
+		swing1 *= fact;
+
+	}
+
+	if (m_swingSpan2 >= real_t(0.05f))
+	{
+		b1Axis3 = A->get_transform().basis.xform( this->m_rbAFrame.basis.get_axis(2) );
+//		swing2 = btAtan2Fast( b2Axis1.dot(b1Axis3),b2Axis1.dot(b1Axis1) );
+		swx = b2Axis1.dot(b1Axis1);
+		swy = b2Axis1.dot(b1Axis3);
+		swing2  = atan2fast(swy, swx);
+		fact = (swy*swy + swx*swx) * thresh * thresh;
+		fact = fact / (fact + real_t(1.0));
+		swing2 *= fact;
+	}
+
+	real_t RMaxAngle1Sq = 1.0f / (m_swingSpan1*m_swingSpan1);
+	real_t RMaxAngle2Sq = 1.0f / (m_swingSpan2*m_swingSpan2);
+	real_t EllipseAngle = Math::abs(swing1*swing1)* RMaxAngle1Sq + Math::abs(swing2*swing2) * RMaxAngle2Sq;
+
+	if (EllipseAngle > 1.0f)
+	{
+		m_swingCorrection = EllipseAngle-1.0f;
+		m_solveSwingLimit = true;
+
+		// Calculate necessary axis & factors
+		m_swingAxis = b2Axis1.cross(b1Axis2* b2Axis1.dot(b1Axis2) + b1Axis3* b2Axis1.dot(b1Axis3));
+		m_swingAxis.normalize();
+
+		real_t swingAxisSign = (b2Axis1.dot(b1Axis1) >= 0.0f) ? 1.0f : -1.0f;
+		m_swingAxis *= swingAxisSign;
+
+		m_kSwing =  real_t(1.) / (A->compute_angular_impulse_denominator(m_swingAxis) +
+			B->compute_angular_impulse_denominator(m_swingAxis));
+
+	}
+
+	// Twist limits
+	if (m_twistSpan >= real_t(0.))
+	{
+		Vector3 b2Axis2 = B->get_transform().basis.xform( this->m_rbBFrame.basis.get_axis(1) );
+		Quat rotationArc = Quat(b2Axis1,b1Axis1);
+		Vector3 TwistRef = rotationArc.xform(b2Axis2);
+		real_t twist = atan2fast( TwistRef.dot(b1Axis3), TwistRef.dot(b1Axis2) );
+
+		real_t lockedFreeFactor = (m_twistSpan > real_t(0.05f)) ? m_limitSoftness : real_t(0.);
+		if (twist <= -m_twistSpan*lockedFreeFactor)
+		{
+			m_twistCorrection = -(twist + m_twistSpan);
+			m_solveTwistLimit = true;
+
+			m_twistAxis = (b2Axis1 + b1Axis1) * 0.5f;
+			m_twistAxis.normalize();
+			m_twistAxis *= -1.0f;
+
+			m_kTwist = real_t(1.) / (A->compute_angular_impulse_denominator(m_twistAxis) +
+				B->compute_angular_impulse_denominator(m_twistAxis));
+
+		}	else
+			if (twist >  m_twistSpan*lockedFreeFactor)
+			{
+				m_twistCorrection = (twist - m_twistSpan);
+				m_solveTwistLimit = true;
+
+				m_twistAxis = (b2Axis1 + b1Axis1) * 0.5f;
+				m_twistAxis.normalize();
+
+				m_kTwist = real_t(1.) / (A->compute_angular_impulse_denominator(m_twistAxis) +
+					B->compute_angular_impulse_denominator(m_twistAxis));
+
+			}
+	}
+
+	return true;
+}
+
+void	ConeTwistJointSW::solve(real_t	timeStep)
+{
+
+	Vector3 pivotAInW = A->get_transform().xform(m_rbAFrame.origin);
+	Vector3 pivotBInW = B->get_transform().xform(m_rbBFrame.origin);
+
+	real_t tau = real_t(0.3);
+
+	//linear part
+	if (!m_angularOnly)
+	{
+		Vector3 rel_pos1 = pivotAInW - A->get_transform().origin;
+		Vector3 rel_pos2 = pivotBInW - B->get_transform().origin;
+
+		Vector3 vel1 = A->get_velocity_in_local_point(rel_pos1);
+		Vector3 vel2 = B->get_velocity_in_local_point(rel_pos2);
+		Vector3 vel = vel1 - vel2;
+
+		for (int i=0;i<3;i++)
+		{
+			const Vector3& normal = m_jac[i].m_linearJointAxis;
+			real_t jacDiagABInv = real_t(1.) / m_jac[i].getDiagonal();
+
+			real_t rel_vel;
+			rel_vel = normal.dot(vel);
+			//positional error (zeroth order error)
+			real_t depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
+			real_t impulse = depth*tau/timeStep  * jacDiagABInv -  rel_vel * jacDiagABInv;
+			m_appliedImpulse += impulse;
+			Vector3 impulse_vector = normal * impulse;
+			A->apply_impulse(pivotAInW - A->get_transform().origin, impulse_vector);
+			B->apply_impulse(pivotBInW - B->get_transform().origin, -impulse_vector);
+		}
+	}
+
+	{
+		///solve angular part
+		const Vector3& angVelA = A->get_angular_velocity();
+		const Vector3& angVelB = B->get_angular_velocity();
+
+		// solve swing limit
+		if (m_solveSwingLimit)
+		{
+			real_t amplitude = ((angVelB - angVelA).dot( m_swingAxis )*m_relaxationFactor*m_relaxationFactor + m_swingCorrection*(real_t(1.)/timeStep)*m_biasFactor);
+			real_t impulseMag = amplitude * m_kSwing;
+
+			// Clamp the accumulated impulse
+			real_t temp = m_accSwingLimitImpulse;
+			m_accSwingLimitImpulse = MAX(m_accSwingLimitImpulse + impulseMag, real_t(0.0) );
+			impulseMag = m_accSwingLimitImpulse - temp;
+
+			Vector3 impulse = m_swingAxis * impulseMag;
+
+			A->apply_torque_impulse(impulse);
+			B->apply_torque_impulse(-impulse);
+
+		}
+
+		// solve twist limit
+		if (m_solveTwistLimit)
+		{
+			real_t amplitude = ((angVelB - angVelA).dot( m_twistAxis )*m_relaxationFactor*m_relaxationFactor + m_twistCorrection*(real_t(1.)/timeStep)*m_biasFactor );
+			real_t impulseMag = amplitude * m_kTwist;
+
+			// Clamp the accumulated impulse
+			real_t temp = m_accTwistLimitImpulse;
+			m_accTwistLimitImpulse = MAX(m_accTwistLimitImpulse + impulseMag, real_t(0.0) );
+			impulseMag = m_accTwistLimitImpulse - temp;
+
+			Vector3 impulse = m_twistAxis * impulseMag;
+
+			A->apply_torque_impulse(impulse);
+			B->apply_torque_impulse(-impulse);
+
+		}
+
+	}
+
+}
+
+void ConeTwistJointSW::set_param(PhysicsServer::ConeTwistJointParam p_param, float p_value) {
+
+	switch(p_param) {
+		case PhysicsServer::CONE_TWIST_JOINT_SWING_SPAN: {
+
+			m_swingSpan1=p_value;
+			m_swingSpan2=p_value;
+		} break;
+		case PhysicsServer::CONE_TWIST_JOINT_TWIST_SPAN: {
+
+			m_twistSpan=p_value;
+		} break;
+		case PhysicsServer::CONE_TWIST_JOINT_BIAS: {
+
+			m_biasFactor=p_value;
+		} break;
+		case PhysicsServer::CONE_TWIST_JOINT_SOFTNESS: {
+
+			m_limitSoftness=p_value;
+		} break;
+		case PhysicsServer::CONE_TWIST_JOINT_RELAXATION: {
+
+			m_relaxationFactor=p_value;
+		} break;
+	}
+}
+
+float ConeTwistJointSW::get_param(PhysicsServer::ConeTwistJointParam p_param) const{
+
+	switch(p_param) {
+		case PhysicsServer::CONE_TWIST_JOINT_SWING_SPAN: {
+
+			return m_swingSpan1;
+		} break;
+		case PhysicsServer::CONE_TWIST_JOINT_TWIST_SPAN: {
+
+			return m_twistSpan;
+		} break;
+		case PhysicsServer::CONE_TWIST_JOINT_BIAS: {
+
+			return m_biasFactor;
+		} break;
+		case PhysicsServer::CONE_TWIST_JOINT_SOFTNESS: {
+
+			return m_limitSoftness;
+		} break;
+		case PhysicsServer::CONE_TWIST_JOINT_RELAXATION: {
+
+			return m_relaxationFactor;
+		} break;
+	}
+
+	return 0;
+}
diff --git a/servers/physics/joints/cone_twist_joint_sw.h b/servers/physics/joints/cone_twist_joint_sw.h
new file mode 100644
index 0000000000..63502d2036
--- /dev/null
+++ b/servers/physics/joints/cone_twist_joint_sw.h
@@ -0,0 +1,125 @@
+#ifndef CONE_TWIST_JOINT_SW_H
+#define CONE_TWIST_JOINT_SW_H
+
+#include "servers/physics/joints_sw.h"
+#include "servers/physics/joints/jacobian_entry_sw.h"
+
+
+/*
+Bullet Continuous Collision Detection and Physics Library
+ConeTwistJointSW is Copyright (c) 2007 Starbreeze Studios
+
+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.
+
+Written by: Marcus Hennix
+*/
+
+
+
+///ConeTwistJointSW can be used to simulate ragdoll joints (upper arm, leg etc)
+class ConeTwistJointSW : public JointSW
+{
+#ifdef IN_PARALLELL_SOLVER
+public:
+#endif
+
+	union {
+		struct {
+			BodySW *A;
+			BodySW *B;
+		};
+
+		BodySW *_arr[2];
+	};
+
+	JacobianEntrySW	m_jac[3]; //3 orthogonal linear constraints
+
+
+	real_t m_appliedImpulse;
+	Transform m_rbAFrame;
+	Transform m_rbBFrame;
+
+	real_t	m_limitSoftness;
+	real_t	m_biasFactor;
+	real_t	m_relaxationFactor;
+
+	real_t	m_swingSpan1;
+	real_t	m_swingSpan2;
+	real_t	m_twistSpan;
+
+	Vector3   m_swingAxis;
+	Vector3	m_twistAxis;
+
+	real_t	m_kSwing;
+	real_t	m_kTwist;
+
+	real_t	m_twistLimitSign;
+	real_t	m_swingCorrection;
+	real_t	m_twistCorrection;
+
+	real_t	m_accSwingLimitImpulse;
+	real_t	m_accTwistLimitImpulse;
+
+	bool		m_angularOnly;
+	bool		m_solveTwistLimit;
+	bool		m_solveSwingLimit;
+
+
+public:
+
+	virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_CONE_TWIST; }
+
+	virtual bool setup(float p_step);
+	virtual void solve(float p_step);
+
+	ConeTwistJointSW(BodySW* rbA,BodySW* rbB,const Transform& rbAFrame, const Transform& rbBFrame);
+
+
+	void	setAngularOnly(bool angularOnly)
+	{
+		m_angularOnly = angularOnly;
+	}
+
+	void	setLimit(real_t _swingSpan1,real_t _swingSpan2,real_t _twistSpan,  real_t _softness = 0.8f, real_t _biasFactor = 0.3f, real_t _relaxationFactor = 1.0f)
+	{
+		m_swingSpan1 = _swingSpan1;
+		m_swingSpan2 = _swingSpan2;
+		m_twistSpan  = _twistSpan;
+
+		m_limitSoftness =  _softness;
+		m_biasFactor = _biasFactor;
+		m_relaxationFactor = _relaxationFactor;
+	}
+
+	inline int getSolveTwistLimit()
+	{
+		return m_solveTwistLimit;
+	}
+
+	inline int getSolveSwingLimit()
+	{
+		return m_solveTwistLimit;
+	}
+
+	inline real_t getTwistLimitSign()
+	{
+		return m_twistLimitSign;
+	}
+
+	void set_param(PhysicsServer::ConeTwistJointParam p_param, float p_value);
+	float get_param(PhysicsServer::ConeTwistJointParam p_param) const;
+
+
+};
+
+
+
+#endif // CONE_TWIST_JOINT_SW_H
diff --git a/servers/physics/joints/generic_6dof_joint_sw.cpp b/servers/physics/joints/generic_6dof_joint_sw.cpp
new file mode 100644
index 0000000000..3d569df2c9
--- /dev/null
+++ b/servers/physics/joints/generic_6dof_joint_sw.cpp
@@ -0,0 +1,691 @@
+#include "generic_6dof_joint_sw.h"
+
+
+
+#define GENERIC_D6_DISABLE_WARMSTARTING 1
+
+real_t btGetMatrixElem(const Matrix3& mat, int index);
+real_t btGetMatrixElem(const Matrix3& mat, int index)
+{
+	int i = index%3;
+	int j = index/3;
+	return mat[i][j];
+}
+
+///MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html
+bool	matrixToEulerXYZ(const Matrix3& mat,Vector3& xyz);
+bool	matrixToEulerXYZ(const Matrix3& mat,Vector3& xyz)
+{
+//	// rot =  cy*cz          -cy*sz           sy
+//	//        cz*sx*sy+cx*sz  cx*cz-sx*sy*sz -cy*sx
+//	//       -cx*cz*sy+sx*sz  cz*sx+cx*sy*sz  cx*cy
+//
+
+		if (btGetMatrixElem(mat,2) < real_t(1.0))
+		{
+			if (btGetMatrixElem(mat,2) > real_t(-1.0))
+			{
+				xyz[0] = Math::atan2(-btGetMatrixElem(mat,5),btGetMatrixElem(mat,8));
+				xyz[1] = Math::asin(btGetMatrixElem(mat,2));
+				xyz[2] = Math::atan2(-btGetMatrixElem(mat,1),btGetMatrixElem(mat,0));
+				return true;
+			}
+			else
+			{
+				// WARNING.  Not unique.  XA - ZA = -atan2(r10,r11)
+				xyz[0] = -Math::atan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
+				xyz[1] = -Math_PI*0.5;
+				xyz[2] = real_t(0.0);
+				return false;
+			}
+		}
+		else
+		{
+			// WARNING.  Not unique.  XAngle + ZAngle = atan2(r10,r11)
+			xyz[0] = Math::atan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
+			xyz[1] = Math_PI*0.5;
+			xyz[2] = 0.0;
+
+		}
+
+
+	return false;
+}
+
+
+
+//////////////////////////// G6DOFRotationalLimitMotorSW ////////////////////////////////////
+
+
+int G6DOFRotationalLimitMotorSW::testLimitValue(real_t test_value)
+{
+	if(m_loLimit>m_hiLimit)
+	{
+		m_currentLimit = 0;//Free from violation
+		return 0;
+	}
+
+	if (test_value < m_loLimit)
+	{
+		m_currentLimit = 1;//low limit violation
+		m_currentLimitError =  test_value - m_loLimit;
+		return 1;
+	}
+	else if (test_value> m_hiLimit)
+	{
+		m_currentLimit = 2;//High limit violation
+		m_currentLimitError = test_value - m_hiLimit;
+		return 2;
+	};
+
+	m_currentLimit = 0;//Free from violation
+	return 0;
+
+}
+
+
+real_t G6DOFRotationalLimitMotorSW::solveAngularLimits(
+		real_t timeStep,Vector3& axis,real_t jacDiagABInv,
+		BodySW * body0, BodySW * body1)
+{
+    if (needApplyTorques()==false) return 0.0f;
+
+    real_t target_velocity = m_targetVelocity;
+    real_t maxMotorForce = m_maxMotorForce;
+
+	//current error correction
+    if (m_currentLimit!=0)
+    {
+	target_velocity = -m_ERP*m_currentLimitError/(timeStep);
+	maxMotorForce = m_maxLimitForce;
+    }
+
+    maxMotorForce *= timeStep;
+
+    // current velocity difference
+    Vector3 vel_diff = body0->get_angular_velocity();
+    if (body1)
+    {
+	vel_diff -= body1->get_angular_velocity();
+    }
+
+
+
+    real_t rel_vel = axis.dot(vel_diff);
+
+	// correction velocity
+    real_t motor_relvel = m_limitSoftness*(target_velocity  - m_damping*rel_vel);
+
+
+    if ( motor_relvel < CMP_EPSILON && motor_relvel > -CMP_EPSILON  )
+    {
+	return 0.0f;//no need for applying force
+    }
+
+
+	// correction impulse
+    real_t unclippedMotorImpulse = (1+m_bounce)*motor_relvel*jacDiagABInv;
+
+	// clip correction impulse
+    real_t clippedMotorImpulse;
+
+    ///@todo: should clip against accumulated impulse
+    if (unclippedMotorImpulse>0.0f)
+    {
+	clippedMotorImpulse =  unclippedMotorImpulse > maxMotorForce? maxMotorForce: unclippedMotorImpulse;
+    }
+    else
+    {
+	clippedMotorImpulse =  unclippedMotorImpulse < -maxMotorForce ? -maxMotorForce: unclippedMotorImpulse;
+    }
+
+
+	// sort with accumulated impulses
+    real_t	lo = real_t(-1e30);
+    real_t	hi = real_t(1e30);
+
+    real_t oldaccumImpulse = m_accumulatedImpulse;
+    real_t sum = oldaccumImpulse + clippedMotorImpulse;
+    m_accumulatedImpulse = sum > hi ? real_t(0.) : sum < lo ? real_t(0.) : sum;
+
+    clippedMotorImpulse = m_accumulatedImpulse - oldaccumImpulse;
+
+
+
+    Vector3 motorImp = clippedMotorImpulse * axis;
+
+
+    body0->apply_torque_impulse(motorImp);
+    if (body1) body1->apply_torque_impulse(-motorImp);
+
+    return clippedMotorImpulse;
+
+
+}
+
+//////////////////////////// End G6DOFRotationalLimitMotorSW ////////////////////////////////////
+
+//////////////////////////// G6DOFTranslationalLimitMotorSW ////////////////////////////////////
+real_t G6DOFTranslationalLimitMotorSW::solveLinearAxis(
+		real_t timeStep,
+	real_t jacDiagABInv,
+	BodySW* body1,const Vector3 &pointInA,
+	BodySW* body2,const Vector3 &pointInB,
+	int limit_index,
+	const Vector3 & axis_normal_on_a,
+		const Vector3 & anchorPos)
+{
+
+///find relative velocity
+//    Vector3 rel_pos1 = pointInA - body1->get_transform().origin;
+//    Vector3 rel_pos2 = pointInB - body2->get_transform().origin;
+    Vector3 rel_pos1 = anchorPos - body1->get_transform().origin;
+    Vector3 rel_pos2 = anchorPos - body2->get_transform().origin;
+
+    Vector3 vel1 = body1->get_velocity_in_local_point(rel_pos1);
+    Vector3 vel2 = body2->get_velocity_in_local_point(rel_pos2);
+    Vector3 vel = vel1 - vel2;
+
+    real_t rel_vel = axis_normal_on_a.dot(vel);
+
+
+
+/// apply displacement correction
+
+//positional error (zeroth order error)
+    real_t depth = -(pointInA - pointInB).dot(axis_normal_on_a);
+    real_t	lo = real_t(-1e30);
+    real_t	hi = real_t(1e30);
+
+    real_t minLimit = m_lowerLimit[limit_index];
+    real_t maxLimit = m_upperLimit[limit_index];
+
+    //handle the limits
+    if (minLimit < maxLimit)
+    {
+	{
+	    if (depth > maxLimit)
+	    {
+		depth -= maxLimit;
+		lo = real_t(0.);
+
+	    }
+	    else
+	    {
+		if (depth < minLimit)
+		{
+		    depth -= minLimit;
+		    hi = real_t(0.);
+		}
+		else
+		{
+		    return 0.0f;
+		}
+	    }
+	}
+    }
+
+    real_t normalImpulse= m_limitSoftness[limit_index]*(m_restitution[limit_index]*depth/timeStep - m_damping[limit_index]*rel_vel) * jacDiagABInv;
+
+
+
+
+    real_t oldNormalImpulse = m_accumulatedImpulse[limit_index];
+    real_t sum = oldNormalImpulse + normalImpulse;
+    m_accumulatedImpulse[limit_index] = sum > hi ? real_t(0.) : sum < lo ? real_t(0.) : sum;
+    normalImpulse = m_accumulatedImpulse[limit_index] - oldNormalImpulse;
+
+    Vector3 impulse_vector = axis_normal_on_a * normalImpulse;
+    body1->apply_impulse( rel_pos1, impulse_vector);
+    body2->apply_impulse( rel_pos2, -impulse_vector);
+    return normalImpulse;
+}
+
+//////////////////////////// G6DOFTranslationalLimitMotorSW ////////////////////////////////////
+
+
+Generic6DOFJointSW::Generic6DOFJointSW(BodySW* rbA, BodySW* rbB, const Transform& frameInA, const Transform& frameInB, bool useLinearReferenceFrameA)
+	 :  JointSW(_arr,2)
+	, m_frameInA(frameInA)
+	, m_frameInB(frameInB),
+		m_useLinearReferenceFrameA(useLinearReferenceFrameA)
+{
+	A=rbA;
+	B=rbB;
+	A->add_constraint(this,0);
+	B->add_constraint(this,1);
+}
+
+
+
+
+
+void Generic6DOFJointSW::calculateAngleInfo()
+{
+	Matrix3 relative_frame = m_calculatedTransformA.basis.inverse()*m_calculatedTransformB.basis;
+
+	matrixToEulerXYZ(relative_frame,m_calculatedAxisAngleDiff);
+
+
+
+	// in euler angle mode we do not actually constrain the angular velocity
+  // along the axes axis[0] and axis[2] (although we do use axis[1]) :
+  //
+  //    to get			constrain w2-w1 along		...not
+  //    ------			---------------------		------
+  //    d(angle[0])/dt = 0	ax[1] x ax[2]			ax[0]
+  //    d(angle[1])/dt = 0	ax[1]
+  //    d(angle[2])/dt = 0	ax[0] x ax[1]			ax[2]
+  //
+  // constraining w2-w1 along an axis 'a' means that a'*(w2-w1)=0.
+  // to prove the result for angle[0], write the expression for angle[0] from
+  // GetInfo1 then take the derivative. to prove this for angle[2] it is
+  // easier to take the euler rate expression for d(angle[2])/dt with respect
+  // to the components of w and set that to 0.
+
+	Vector3 axis0 = m_calculatedTransformB.basis.get_axis(0);
+	Vector3 axis2 = m_calculatedTransformA.basis.get_axis(2);
+
+	m_calculatedAxis[1] = axis2.cross(axis0);
+	m_calculatedAxis[0] = m_calculatedAxis[1].cross(axis2);
+	m_calculatedAxis[2] = axis0.cross(m_calculatedAxis[1]);
+
+
+//    if(m_debugDrawer)
+//    {
+//
+//    	char buff[300];
+//		sprintf(buff,"\n X: %.2f ; Y: %.2f ; Z: %.2f ",
+//		m_calculatedAxisAngleDiff[0],
+//		m_calculatedAxisAngleDiff[1],
+//		m_calculatedAxisAngleDiff[2]);
+//    	m_debugDrawer->reportErrorWarning(buff);
+//    }
+
+}
+
+void Generic6DOFJointSW::calculateTransforms()
+{
+    m_calculatedTransformA = A->get_transform() * m_frameInA;
+    m_calculatedTransformB = B->get_transform() * m_frameInB;
+
+    calculateAngleInfo();
+}
+
+
+void Generic6DOFJointSW::buildLinearJacobian(
+    JacobianEntrySW & jacLinear,const Vector3 & normalWorld,
+    const Vector3 & pivotAInW,const Vector3 & pivotBInW)
+{
+   memnew_placement(&jacLinear, JacobianEntrySW(
+	A->get_transform().basis.transposed(),
+	B->get_transform().basis.transposed(),
+	pivotAInW - A->get_transform().origin,
+	pivotBInW - B->get_transform().origin,
+	normalWorld,
+	A->get_inv_inertia(),
+	A->get_inv_mass(),
+	B->get_inv_inertia(),
+	B->get_inv_mass()));
+
+}
+
+void Generic6DOFJointSW::buildAngularJacobian(
+    JacobianEntrySW & jacAngular,const Vector3 & jointAxisW)
+{
+    memnew_placement(&jacAngular, JacobianEntrySW(jointAxisW,
+				      A->get_transform().basis.transposed(),
+				      B->get_transform().basis.transposed(),
+				      A->get_inv_inertia(),
+				      B->get_inv_inertia()));
+
+}
+
+bool Generic6DOFJointSW::testAngularLimitMotor(int axis_index)
+{
+    real_t angle = m_calculatedAxisAngleDiff[axis_index];
+
+    //test limits
+    m_angularLimits[axis_index].testLimitValue(angle);
+    return m_angularLimits[axis_index].needApplyTorques();
+}
+
+bool Generic6DOFJointSW::setup(float p_step) {
+
+	// Clear accumulated impulses for the next simulation step
+    m_linearLimits.m_accumulatedImpulse=Vector3(real_t(0.), real_t(0.), real_t(0.));
+    int i;
+    for(i = 0; i < 3; i++)
+    {
+	m_angularLimits[i].m_accumulatedImpulse = real_t(0.);
+    }
+    //calculates transform
+    calculateTransforms();
+
+//  const Vector3& pivotAInW = m_calculatedTransformA.origin;
+//  const Vector3& pivotBInW = m_calculatedTransformB.origin;
+	calcAnchorPos();
+	Vector3 pivotAInW = m_AnchorPos;
+	Vector3 pivotBInW = m_AnchorPos;
+
+// not used here
+//    Vector3 rel_pos1 = pivotAInW - A->get_transform().origin;
+//    Vector3 rel_pos2 = pivotBInW - B->get_transform().origin;
+
+    Vector3 normalWorld;
+    //linear part
+    for (i=0;i<3;i++)
+    {
+	if (m_linearLimits.enable_limit[i] && m_linearLimits.isLimited(i))
+	{
+			if (m_useLinearReferenceFrameA)
+		    normalWorld = m_calculatedTransformA.basis.get_axis(i);
+			else
+		    normalWorld = m_calculatedTransformB.basis.get_axis(i);
+
+	    buildLinearJacobian(
+		m_jacLinear[i],normalWorld ,
+		pivotAInW,pivotBInW);
+
+	}
+    }
+
+    // angular part
+    for (i=0;i<3;i++)
+    {
+	//calculates error angle
+	if (m_angularLimits[i].m_enableLimit && testAngularLimitMotor(i))
+	{
+	    normalWorld = this->getAxis(i);
+	    // Create angular atom
+	    buildAngularJacobian(m_jacAng[i],normalWorld);
+	}
+    }
+
+	return true;
+}
+
+
+void Generic6DOFJointSW::solve(real_t	timeStep)
+{
+    m_timeStep = timeStep;
+
+    //calculateTransforms();
+
+    int i;
+
+    // linear
+
+    Vector3 pointInA = m_calculatedTransformA.origin;
+	Vector3 pointInB = m_calculatedTransformB.origin;
+
+	real_t jacDiagABInv;
+	Vector3 linear_axis;
+    for (i=0;i<3;i++)
+    {
+	if (m_linearLimits.enable_limit[i] && m_linearLimits.isLimited(i))
+	{
+	    jacDiagABInv = real_t(1.) / m_jacLinear[i].getDiagonal();
+
+			if (m_useLinearReferenceFrameA)
+		    linear_axis = m_calculatedTransformA.basis.get_axis(i);
+			else
+		    linear_axis = m_calculatedTransformB.basis.get_axis(i);
+
+	    m_linearLimits.solveLinearAxis(
+		m_timeStep,
+		jacDiagABInv,
+		A,pointInA,
+		B,pointInB,
+		i,linear_axis, m_AnchorPos);
+
+	}
+    }
+
+    // angular
+    Vector3 angular_axis;
+    real_t angularJacDiagABInv;
+    for (i=0;i<3;i++)
+    {
+	if (m_angularLimits[i].m_enableLimit && m_angularLimits[i].needApplyTorques())
+	{
+
+			// get axis
+			angular_axis = getAxis(i);
+
+			angularJacDiagABInv = real_t(1.) / m_jacAng[i].getDiagonal();
+
+			m_angularLimits[i].solveAngularLimits(m_timeStep,angular_axis,angularJacDiagABInv, A,B);
+	}
+    }
+}
+
+void	Generic6DOFJointSW::updateRHS(real_t	timeStep)
+{
+    (void)timeStep;
+
+}
+
+Vector3 Generic6DOFJointSW::getAxis(int axis_index) const
+{
+    return m_calculatedAxis[axis_index];
+}
+
+real_t Generic6DOFJointSW::getAngle(int axis_index) const
+{
+    return m_calculatedAxisAngleDiff[axis_index];
+}
+
+void Generic6DOFJointSW::calcAnchorPos(void)
+{
+	real_t imA = A->get_inv_mass();
+	real_t imB = B->get_inv_mass();
+	real_t weight;
+	if(imB == real_t(0.0))
+	{
+		weight = real_t(1.0);
+	}
+	else
+	{
+		weight = imA / (imA + imB);
+	}
+	const Vector3& pA = m_calculatedTransformA.origin;
+	const Vector3& pB = m_calculatedTransformB.origin;
+	m_AnchorPos = pA * weight + pB * (real_t(1.0) - weight);
+	return;
+} // Generic6DOFJointSW::calcAnchorPos()
+
+
+void Generic6DOFJointSW::set_param(Vector3::Axis p_axis,PhysicsServer::G6DOFJointAxisParam p_param, float p_value) {
+
+	ERR_FAIL_INDEX(p_axis,3);
+	switch(p_param) {
+		case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT: {
+
+			m_linearLimits.m_lowerLimit[p_axis]=p_value;
+		} break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT: {
+
+			m_linearLimits.m_upperLimit[p_axis]=p_value;
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS: {
+
+			m_linearLimits.m_limitSoftness[p_axis]=p_value;
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION: {
+
+			m_linearLimits.m_restitution[p_axis]=p_value;
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING: {
+
+			m_linearLimits.m_damping[p_axis]=p_value;
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT: {
+
+			m_angularLimits[p_axis].m_loLimit=p_value;
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT: {
+
+			m_angularLimits[p_axis].m_hiLimit=p_value;
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS: {
+
+			m_angularLimits[p_axis].m_limitSoftness;
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING: {
+
+			m_angularLimits[p_axis].m_damping=p_value;
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION: {
+
+			m_angularLimits[p_axis].m_bounce=p_value;
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT: {
+
+			m_angularLimits[p_axis].m_maxLimitForce=p_value;
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP: {
+
+			m_angularLimits[p_axis].m_ERP=p_value;
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY: {
+
+			m_angularLimits[p_axis].m_targetVelocity=p_value;
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT: {
+
+			m_angularLimits[p_axis].m_maxLimitForce=p_value;
+
+		} break;
+	}
+}
+
+float Generic6DOFJointSW::get_param(Vector3::Axis p_axis,PhysicsServer::G6DOFJointAxisParam p_param) const{
+	ERR_FAIL_INDEX_V(p_axis,3,0);
+	switch(p_param) {
+		case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT: {
+
+			return m_linearLimits.m_lowerLimit[p_axis];
+		} break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT: {
+
+			return m_linearLimits.m_upperLimit[p_axis];
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS: {
+
+			return m_linearLimits.m_limitSoftness[p_axis];
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION: {
+
+			return m_linearLimits.m_restitution[p_axis];
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING: {
+
+			return m_linearLimits.m_damping[p_axis];
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT: {
+
+			return m_angularLimits[p_axis].m_loLimit;
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT: {
+
+			return m_angularLimits[p_axis].m_hiLimit;
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS: {
+
+			return m_angularLimits[p_axis].m_limitSoftness;
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING: {
+
+			return m_angularLimits[p_axis].m_damping;
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION: {
+
+			return m_angularLimits[p_axis].m_bounce;
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT: {
+
+			return m_angularLimits[p_axis].m_maxLimitForce;
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP: {
+
+			return m_angularLimits[p_axis].m_ERP;
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY: {
+
+			return m_angularLimits[p_axis].m_targetVelocity;
+
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT: {
+
+			return m_angularLimits[p_axis].m_maxLimitForce;
+
+		} break;
+	}
+	return 0;
+}
+
+void Generic6DOFJointSW::set_flag(Vector3::Axis p_axis,PhysicsServer::G6DOFJointAxisFlag p_flag, bool p_value){
+
+	ERR_FAIL_INDEX(p_axis,3);
+
+	switch(p_flag) {
+		case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT: {
+
+			m_linearLimits.enable_limit[p_axis]=p_value;
+		} break;
+		case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT: {
+
+			m_angularLimits[p_axis].m_enableLimit=p_value;
+		} break;
+		case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR: {
+
+			m_angularLimits[p_axis].m_enableMotor=p_value;
+		} break;
+	}
+
+
+}
+bool Generic6DOFJointSW::get_flag(Vector3::Axis p_axis,PhysicsServer::G6DOFJointAxisFlag p_flag) const{
+
+	ERR_FAIL_INDEX_V(p_axis,3,0);
+	switch(p_flag) {
+		case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT: {
+
+			return m_linearLimits.enable_limit[p_axis];
+		} break;
+		case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT: {
+
+			return m_angularLimits[p_axis].m_enableLimit;
+		} break;
+		case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR: {
+
+			return m_angularLimits[p_axis].m_enableMotor;
+		} break;
+	}
+
+	return 0;
+}
diff --git a/servers/physics/joints/generic_6dof_joint_sw.h b/servers/physics/joints/generic_6dof_joint_sw.h
new file mode 100644
index 0000000000..7f762e51a2
--- /dev/null
+++ b/servers/physics/joints/generic_6dof_joint_sw.h
@@ -0,0 +1,428 @@
+#ifndef GENERIC_6DOF_JOINT_SW_H
+#define GENERIC_6DOF_JOINT_SW_H
+
+#include "servers/physics/joints_sw.h"
+#include "servers/physics/joints/jacobian_entry_sw.h"
+
+
+/*
+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.
+*/
+
+
+/*
+2007-09-09
+Generic6DOFJointSW Refactored by Francisco Le?n
+email: projectileman@yahoo.com
+http://gimpact.sf.net
+*/
+
+
+//! Rotation Limit structure for generic joints
+class G6DOFRotationalLimitMotorSW {
+public:
+    //! limit_parameters
+    //!@{
+    real_t m_loLimit;//!< joint limit
+    real_t m_hiLimit;//!< joint limit
+    real_t m_targetVelocity;//!< target motor velocity
+    real_t m_maxMotorForce;//!< max force on motor
+    real_t m_maxLimitForce;//!< max force on limit
+    real_t m_damping;//!< Damping.
+    real_t m_limitSoftness;//! Relaxation factor
+    real_t m_ERP;//!< Error tolerance factor when joint is at limit
+    real_t m_bounce;//!< restitution factor
+    bool m_enableMotor;
+    bool m_enableLimit;
+
+    //!@}
+
+    //! temp_variables
+    //!@{
+    real_t m_currentLimitError;//!  How much is violated this limit
+    int m_currentLimit;//!< 0=free, 1=at lo limit, 2=at hi limit
+    real_t m_accumulatedImpulse;
+    //!@}
+
+    G6DOFRotationalLimitMotorSW()
+    {
+	m_accumulatedImpulse = 0.f;
+	m_targetVelocity = 0;
+	m_maxMotorForce = 0.1f;
+	m_maxLimitForce = 300.0f;
+	m_loLimit = -1e30;
+	m_hiLimit = 1e30;
+	m_ERP = 0.5f;
+	m_bounce = 0.0f;
+	m_damping = 1.0f;
+	m_limitSoftness = 0.5f;
+	m_currentLimit = 0;
+	m_currentLimitError = 0;
+	m_enableMotor = false;
+	m_enableLimit=false;
+    }
+
+    G6DOFRotationalLimitMotorSW(const G6DOFRotationalLimitMotorSW & limot)
+    {
+	m_targetVelocity = limot.m_targetVelocity;
+	m_maxMotorForce = limot.m_maxMotorForce;
+	m_limitSoftness = limot.m_limitSoftness;
+	m_loLimit = limot.m_loLimit;
+	m_hiLimit = limot.m_hiLimit;
+	m_ERP = limot.m_ERP;
+	m_bounce = limot.m_bounce;
+	m_currentLimit = limot.m_currentLimit;
+	m_currentLimitError = limot.m_currentLimitError;
+	m_enableMotor = limot.m_enableMotor;
+    }
+
+
+
+	//! Is limited
+    bool isLimited()
+    {
+	if(m_loLimit>=m_hiLimit) return false;
+	return true;
+    }
+
+	//! Need apply correction
+    bool needApplyTorques()
+    {
+	if(m_currentLimit == 0 && m_enableMotor == false) return false;
+	return true;
+    }
+
+	//! calculates  error
+	/*!
+	calculates m_currentLimit and m_currentLimitError.
+	*/
+	int testLimitValue(real_t test_value);
+
+	//! apply the correction impulses for two bodies
+    real_t solveAngularLimits(real_t timeStep,Vector3& axis, real_t jacDiagABInv,BodySW * body0, BodySW * body1);
+
+
+};
+
+
+
+class G6DOFTranslationalLimitMotorSW
+{
+public:
+	Vector3 m_lowerLimit;//!< the constraint lower limits
+    Vector3 m_upperLimit;//!< the constraint upper limits
+    Vector3 m_accumulatedImpulse;
+    //! Linear_Limit_parameters
+    //!@{
+    Vector3	m_limitSoftness;//!< Softness for linear limit
+    Vector3	m_damping;//!< Damping for linear limit
+    Vector3	m_restitution;//! Bounce parameter for linear limit
+    //!@}
+    bool enable_limit[3];
+
+    G6DOFTranslationalLimitMotorSW()
+    {
+	m_lowerLimit=Vector3(0.f,0.f,0.f);
+	m_upperLimit=Vector3(0.f,0.f,0.f);
+	m_accumulatedImpulse=Vector3(0.f,0.f,0.f);
+
+	m_limitSoftness = Vector3(1,1,1)*0.7f;
+	m_damping = Vector3(1,1,1)*real_t(1.0f);
+	m_restitution = Vector3(1,1,1)*real_t(0.5f);
+
+	enable_limit[0]=true;
+	enable_limit[1]=true;
+	enable_limit[2]=true;
+    }
+
+    G6DOFTranslationalLimitMotorSW(const G6DOFTranslationalLimitMotorSW & other )
+    {
+	m_lowerLimit = other.m_lowerLimit;
+	m_upperLimit = other.m_upperLimit;
+	m_accumulatedImpulse = other.m_accumulatedImpulse;
+
+	m_limitSoftness = other.m_limitSoftness ;
+	m_damping = other.m_damping;
+	m_restitution = other.m_restitution;
+    }
+
+    //! Test limit
+	/*!
+    - free means upper < lower,
+    - locked means upper == lower
+    - limited means upper > lower
+    - limitIndex: first 3 are linear, next 3 are angular
+    */
+    inline bool	isLimited(int limitIndex)
+    {
+       return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
+    }
+
+
+    real_t solveLinearAxis(
+	real_t timeStep,
+	real_t jacDiagABInv,
+	BodySW* body1,const Vector3 &pointInA,
+	BodySW* body2,const Vector3 &pointInB,
+	int limit_index,
+	const Vector3 & axis_normal_on_a,
+		const Vector3 & anchorPos);
+
+
+};
+
+
+class Generic6DOFJointSW : public JointSW
+{
+protected:
+
+
+	union {
+		struct {
+			BodySW *A;
+			BodySW *B;
+		};
+
+		BodySW *_arr[2];
+	};
+
+	//! relative_frames
+    //!@{
+	Transform	m_frameInA;//!< the constraint space w.r.t body A
+    Transform	m_frameInB;//!< the constraint space w.r.t body B
+    //!@}
+
+    //! Jacobians
+    //!@{
+    JacobianEntrySW	m_jacLinear[3];//!< 3 orthogonal linear constraints
+    JacobianEntrySW	m_jacAng[3];//!< 3 orthogonal angular constraints
+    //!@}
+
+	//! Linear_Limit_parameters
+    //!@{
+    G6DOFTranslationalLimitMotorSW m_linearLimits;
+    //!@}
+
+
+    //! hinge_parameters
+    //!@{
+    G6DOFRotationalLimitMotorSW m_angularLimits[3];
+	//!@}
+
+
+protected:
+    //! temporal variables
+    //!@{
+    real_t m_timeStep;
+    Transform m_calculatedTransformA;
+    Transform m_calculatedTransformB;
+    Vector3 m_calculatedAxisAngleDiff;
+    Vector3 m_calculatedAxis[3];
+
+	Vector3 m_AnchorPos; // point betwen pivots of bodies A and B to solve linear axes
+
+    bool	m_useLinearReferenceFrameA;
+
+    //!@}
+
+    Generic6DOFJointSW&	operator=(Generic6DOFJointSW&	other)
+    {
+	ERR_PRINT("pito");
+	(void) other;
+	return *this;
+    }
+
+
+
+    void buildLinearJacobian(
+	JacobianEntrySW & jacLinear,const Vector3 & normalWorld,
+	const Vector3 & pivotAInW,const Vector3 & pivotBInW);
+
+    void buildAngularJacobian(JacobianEntrySW & jacAngular,const Vector3 & jointAxisW);
+
+
+	//! calcs the euler angles between the two bodies.
+    void calculateAngleInfo();
+
+
+
+public:
+    Generic6DOFJointSW(BodySW* rbA, BodySW* rbB, const Transform& frameInA, const Transform& frameInB ,bool useLinearReferenceFrameA);
+
+    virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_6DOF; }
+
+    virtual bool setup(float p_step);
+    virtual void solve(float p_step);
+
+
+	//! Calcs global transform of the offsets
+	/*!
+	Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.
+	\sa Generic6DOFJointSW.getCalculatedTransformA , Generic6DOFJointSW.getCalculatedTransformB, Generic6DOFJointSW.calculateAngleInfo
+	*/
+    void calculateTransforms();
+
+	//! Gets the global transform of the offset for body A
+    /*!
+    \sa Generic6DOFJointSW.getFrameOffsetA, Generic6DOFJointSW.getFrameOffsetB, Generic6DOFJointSW.calculateAngleInfo.
+    */
+    const Transform & getCalculatedTransformA() const
+    {
+	return m_calculatedTransformA;
+    }
+
+    //! Gets the global transform of the offset for body B
+    /*!
+    \sa Generic6DOFJointSW.getFrameOffsetA, Generic6DOFJointSW.getFrameOffsetB, Generic6DOFJointSW.calculateAngleInfo.
+    */
+    const Transform & getCalculatedTransformB() const
+    {
+	return m_calculatedTransformB;
+    }
+
+    const Transform & getFrameOffsetA() const
+    {
+	return m_frameInA;
+    }
+
+    const Transform & getFrameOffsetB() const
+    {
+	return m_frameInB;
+    }
+
+
+    Transform & getFrameOffsetA()
+    {
+	return m_frameInA;
+    }
+
+    Transform & getFrameOffsetB()
+    {
+	return m_frameInB;
+    }
+
+
+	//! performs Jacobian calculation, and also calculates angle differences and axis
+
+
+    void	updateRHS(real_t	timeStep);
+
+	//! Get the rotation axis in global coordinates
+	/*!
+	\pre Generic6DOFJointSW.buildJacobian must be called previously.
+	*/
+    Vector3 getAxis(int axis_index) const;
+
+    //! Get the relative Euler angle
+    /*!
+	\pre Generic6DOFJointSW.buildJacobian must be called previously.
+	*/
+    real_t getAngle(int axis_index) const;
+
+	//! Test angular limit.
+	/*!
+	Calculates angular correction and returns true if limit needs to be corrected.
+	\pre Generic6DOFJointSW.buildJacobian must be called previously.
+	*/
+    bool testAngularLimitMotor(int axis_index);
+
+    void	setLinearLowerLimit(const Vector3& linearLower)
+    {
+	m_linearLimits.m_lowerLimit = linearLower;
+    }
+
+    void	setLinearUpperLimit(const Vector3& linearUpper)
+    {
+	m_linearLimits.m_upperLimit = linearUpper;
+    }
+
+    void	setAngularLowerLimit(const Vector3& angularLower)
+    {
+	m_angularLimits[0].m_loLimit = angularLower.x;
+	m_angularLimits[1].m_loLimit = angularLower.y;
+	m_angularLimits[2].m_loLimit = angularLower.z;
+    }
+
+    void	setAngularUpperLimit(const Vector3& angularUpper)
+    {
+	m_angularLimits[0].m_hiLimit = angularUpper.x;
+	m_angularLimits[1].m_hiLimit = angularUpper.y;
+	m_angularLimits[2].m_hiLimit = angularUpper.z;
+    }
+
+	//! Retrieves the angular limit informacion
+    G6DOFRotationalLimitMotorSW * getRotationalLimitMotor(int index)
+    {
+	return &m_angularLimits[index];
+    }
+
+    //! Retrieves the  limit informacion
+    G6DOFTranslationalLimitMotorSW * getTranslationalLimitMotor()
+    {
+	return &m_linearLimits;
+    }
+
+    //first 3 are linear, next 3 are angular
+    void setLimit(int axis, real_t lo, real_t hi)
+    {
+	if(axis<3)
+	{
+		m_linearLimits.m_lowerLimit[axis] = lo;
+		m_linearLimits.m_upperLimit[axis] = hi;
+	}
+	else
+	{
+		m_angularLimits[axis-3].m_loLimit = lo;
+		m_angularLimits[axis-3].m_hiLimit = hi;
+	}
+    }
+
+	//! Test limit
+	/*!
+    - 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)
+    {
+	if(limitIndex<3)
+	{
+			return m_linearLimits.isLimited(limitIndex);
+
+	}
+	return m_angularLimits[limitIndex-3].isLimited();
+    }
+
+    const BodySW* getRigidBodyA() const
+    {
+	return A;
+    }
+    const BodySW* getRigidBodyB() const
+    {
+	return B;
+    }
+
+	virtual void calcAnchorPos(void); // overridable
+
+    void set_param(Vector3::Axis p_axis,PhysicsServer::G6DOFJointAxisParam p_param, float p_value);
+    float get_param(Vector3::Axis p_axis,PhysicsServer::G6DOFJointAxisParam p_param) const;
+
+    void set_flag(Vector3::Axis p_axis,PhysicsServer::G6DOFJointAxisFlag p_flag, bool p_value);
+    bool get_flag(Vector3::Axis p_axis,PhysicsServer::G6DOFJointAxisFlag p_flag) const;
+
+};
+
+
+#endif // GENERIC_6DOF_JOINT_SW_H
diff --git a/servers/physics/joints/hinge_joint_sw.cpp b/servers/physics/joints/hinge_joint_sw.cpp
new file mode 100644
index 0000000000..feaf00290d
--- /dev/null
+++ b/servers/physics/joints/hinge_joint_sw.cpp
@@ -0,0 +1,438 @@
+#include "hinge_joint_sw.h"
+
+static void plane_space(const Vector3& n, Vector3& p, Vector3& q) {
+
+  if (Math::abs(n.z) > 0.707106781186547524400844362) {
+    // choose p in y-z plane
+    real_t a = n[1]*n[1] + n[2]*n[2];
+    real_t k = 1.0/Math::sqrt(a);
+    p=Vector3(0,-n[2]*k,n[1]*k);
+    // set q = n x p
+    q=Vector3(a*k,-n[0]*p[2],n[0]*p[1]);
+  }
+  else {
+    // choose p in x-y plane
+    real_t a = n.x*n.x + n.y*n.y;
+    real_t k = 1.0/Math::sqrt(a);
+    p=Vector3(-n.y*k,n.x*k,0);
+    // set q = n x p
+    q=Vector3(-n.z*p.y,n.z*p.x,a*k);
+  }
+}
+
+HingeJointSW::HingeJointSW(BodySW* rbA,BodySW* rbB, const Transform& frameA, const Transform& frameB) :  JointSW(_arr,2) {
+
+	A=rbA;
+	B=rbB;
+
+	m_rbAFrame=frameA;
+	m_rbBFrame=frameB;
+	// flip axis
+	m_rbBFrame.basis[0][2] *= real_t(-1.);
+	m_rbBFrame.basis[1][2] *= real_t(-1.);
+	m_rbBFrame.basis[2][2] *= real_t(-1.);
+
+
+	//start with free
+	m_lowerLimit = Math_PI;
+	m_upperLimit = -Math_PI;
+
+
+	m_useLimit = false;
+	m_biasFactor = 0.3f;
+	m_relaxationFactor = 1.0f;
+	m_limitSoftness = 0.9f;
+	m_solveLimit = false;
+
+	tau=0.3;
+
+	m_angularOnly=false;
+	m_enableAngularMotor=false;
+
+	A->add_constraint(this,0);
+	B->add_constraint(this,1);
+
+}
+
+HingeJointSW::HingeJointSW(BodySW* rbA,BodySW* rbB, const Vector3& pivotInA,const Vector3& pivotInB,
+									const  Vector3& axisInA,const Vector3& axisInB) :  JointSW(_arr,2) {
+
+	A=rbA;
+	B=rbB;
+
+	m_rbAFrame.origin = pivotInA;
+
+	// since no frame is given, assume this to be zero angle and just pick rb transform axis
+	Vector3 rbAxisA1 = rbA->get_transform().basis.get_axis(0);
+
+	Vector3 rbAxisA2;
+	real_t projection = axisInA.dot(rbAxisA1);
+	if (projection >= 1.0f - CMP_EPSILON) {
+		rbAxisA1 = -rbA->get_transform().basis.get_axis(2);
+		rbAxisA2 = rbA->get_transform().basis.get_axis(1);
+	} else if (projection <= -1.0f + CMP_EPSILON) {
+		rbAxisA1 = rbA->get_transform().basis.get_axis(2);
+		rbAxisA2 = rbA->get_transform().basis.get_axis(1);
+	} else {
+		rbAxisA2 = axisInA.cross(rbAxisA1);
+		rbAxisA1 = rbAxisA2.cross(axisInA);
+	}
+
+	m_rbAFrame.basis=Matrix3( rbAxisA1.x,rbAxisA2.x,axisInA.x,
+									rbAxisA1.y,rbAxisA2.y,axisInA.y,
+									rbAxisA1.z,rbAxisA2.z,axisInA.z );
+
+	Quat rotationArc = Quat(axisInA,axisInB);
+	Vector3 rbAxisB1 =  rotationArc.xform(rbAxisA1);
+	Vector3 rbAxisB2 =  axisInB.cross(rbAxisB1);
+
+	m_rbBFrame.origin = pivotInB;
+	m_rbBFrame.basis=Matrix3( rbAxisB1.x,rbAxisB2.x,-axisInB.x,
+									rbAxisB1.y,rbAxisB2.y,-axisInB.y,
+									rbAxisB1.z,rbAxisB2.z,-axisInB.z );
+
+	//start with free
+	m_lowerLimit = Math_PI;
+	m_upperLimit = -Math_PI;
+
+
+	m_useLimit = false;
+	m_biasFactor = 0.3f;
+	m_relaxationFactor = 1.0f;
+	m_limitSoftness = 0.9f;
+	m_solveLimit = false;
+
+	tau=0.3;
+
+	m_angularOnly=false;
+	m_enableAngularMotor=false;
+
+	A->add_constraint(this,0);
+	B->add_constraint(this,1);
+
+}
+
+
+
+bool HingeJointSW::setup(float p_step) {
+
+	m_appliedImpulse = real_t(0.);
+
+	if (!m_angularOnly)
+	{
+		Vector3 pivotAInW = A->get_transform().xform(m_rbAFrame.origin);
+		Vector3 pivotBInW = B->get_transform().xform(m_rbBFrame.origin);
+		Vector3 relPos = pivotBInW - pivotAInW;
+
+		Vector3 normal[3];
+		if (relPos.length_squared() > CMP_EPSILON)
+		{
+			normal[0] = relPos.normalized();
+		}
+		else
+		{
+			normal[0]=Vector3(real_t(1.0),0,0);
+		}
+
+		plane_space(normal[0], normal[1], normal[2]);
+
+		for (int i=0;i<3;i++)
+		{
+			memnew_placement(&m_jac[i], JacobianEntrySW(
+				A->get_transform().basis.transposed(),
+				B->get_transform().basis.transposed(),
+				pivotAInW - A->get_transform().origin,
+				pivotBInW - B->get_transform().origin,
+				normal[i],
+				A->get_inv_inertia(),
+				A->get_inv_mass(),
+				B->get_inv_inertia(),
+				B->get_inv_mass()) );
+		}
+	}
+
+	//calculate two perpendicular jointAxis, orthogonal to hingeAxis
+	//these two jointAxis require equal angular velocities for both bodies
+
+	//this is unused for now, it's a todo
+	Vector3 jointAxis0local;
+	Vector3 jointAxis1local;
+
+	plane_space(m_rbAFrame.basis.get_axis(2),jointAxis0local,jointAxis1local);
+
+	A->get_transform().basis.xform( m_rbAFrame.basis.get_axis(2) );
+	Vector3 jointAxis0 = A->get_transform().basis.xform( jointAxis0local );
+	Vector3 jointAxis1 = A->get_transform().basis.xform( jointAxis1local );
+	Vector3 hingeAxisWorld = A->get_transform().basis.xform( m_rbAFrame.basis.get_axis(2) );
+
+	memnew_placement(&m_jacAng[0],	JacobianEntrySW(jointAxis0,
+		A->get_transform().basis.transposed(),
+		B->get_transform().basis.transposed(),
+		A->get_inv_inertia(),
+		B->get_inv_inertia()));
+
+	memnew_placement(&m_jacAng[1],	JacobianEntrySW(jointAxis1,
+		A->get_transform().basis.transposed(),
+		B->get_transform().basis.transposed(),
+		A->get_inv_inertia(),
+		B->get_inv_inertia()));
+
+	memnew_placement(&m_jacAng[2],	JacobianEntrySW(hingeAxisWorld,
+		A->get_transform().basis.transposed(),
+		B->get_transform().basis.transposed(),
+		A->get_inv_inertia(),
+		B->get_inv_inertia()));
+
+
+	// Compute limit information
+	real_t hingeAngle = get_hinge_angle();
+
+//	print_line("angle: "+rtos(hingeAngle));
+	//set bias, sign, clear accumulator
+	m_correction = real_t(0.);
+	m_limitSign = real_t(0.);
+	m_solveLimit = false;
+	m_accLimitImpulse = real_t(0.);
+
+
+
+	/*if (m_useLimit) {
+		print_line("low: "+rtos(m_lowerLimit));
+		print_line("hi: "+rtos(m_upperLimit));
+	}*/
+
+//	if (m_lowerLimit < m_upperLimit)
+	if (m_useLimit && m_lowerLimit <= m_upperLimit)
+	{
+//		if (hingeAngle <= m_lowerLimit*m_limitSoftness)
+		if (hingeAngle <= m_lowerLimit)
+		{
+			m_correction = (m_lowerLimit - hingeAngle);
+			m_limitSign = 1.0f;
+			m_solveLimit = true;
+		}
+//		else if (hingeAngle >= m_upperLimit*m_limitSoftness)
+		else if (hingeAngle >= m_upperLimit)
+		{
+			m_correction = m_upperLimit - hingeAngle;
+			m_limitSign = -1.0f;
+			m_solveLimit = true;
+		}
+	}
+
+	//Compute K = J*W*J' for hinge axis
+	Vector3 axisA =  A->get_transform().basis.xform(  m_rbAFrame.basis.get_axis(2) );
+	m_kHinge =   1.0f / (A->compute_angular_impulse_denominator(axisA) +
+				     B->compute_angular_impulse_denominator(axisA));
+
+	return true;
+}
+
+void HingeJointSW::solve(float p_step) {
+
+	Vector3 pivotAInW = A->get_transform().xform(m_rbAFrame.origin);
+	Vector3 pivotBInW = B->get_transform().xform(m_rbBFrame.origin);
+
+	//real_t tau = real_t(0.3);
+
+	//linear part
+	if (!m_angularOnly)
+	{
+		Vector3 rel_pos1 = pivotAInW - A->get_transform().origin;
+		Vector3 rel_pos2 = pivotBInW - B->get_transform().origin;
+
+		Vector3 vel1 = A->get_velocity_in_local_point(rel_pos1);
+		Vector3 vel2 = B->get_velocity_in_local_point(rel_pos2);
+		Vector3 vel = vel1 - vel2;
+
+		for (int i=0;i<3;i++)
+		{
+			const Vector3& normal = m_jac[i].m_linearJointAxis;
+			real_t jacDiagABInv = real_t(1.) / m_jac[i].getDiagonal();
+
+			real_t rel_vel;
+			rel_vel = normal.dot(vel);
+			//positional error (zeroth order error)
+			real_t depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
+			real_t impulse = depth*tau/p_step  * jacDiagABInv -  rel_vel * jacDiagABInv;
+			m_appliedImpulse += impulse;
+			Vector3 impulse_vector = normal * impulse;
+			A->apply_impulse(pivotAInW - A->get_transform().origin,impulse_vector);
+			B->apply_impulse(pivotBInW - B->get_transform().origin,-impulse_vector);
+		}
+	}
+
+
+	{
+		///solve angular part
+
+		// get axes in world space
+		Vector3 axisA =  A->get_transform().basis.xform(  m_rbAFrame.basis.get_axis(2) );
+		Vector3 axisB =  B->get_transform().basis.xform(  m_rbBFrame.basis.get_axis(2) );
+
+		const Vector3& angVelA = A->get_angular_velocity();
+		const Vector3& angVelB = B->get_angular_velocity();
+
+		Vector3 angVelAroundHingeAxisA = axisA * axisA.dot(angVelA);
+		Vector3 angVelAroundHingeAxisB = axisB * axisB.dot(angVelB);
+
+		Vector3 angAorthog = angVelA - angVelAroundHingeAxisA;
+		Vector3 angBorthog = angVelB - angVelAroundHingeAxisB;
+		Vector3 velrelOrthog = angAorthog-angBorthog;
+		{
+			//solve orthogonal angular velocity correction
+			real_t relaxation = real_t(1.);
+			real_t len = velrelOrthog.length();
+			if (len > real_t(0.00001))
+			{
+				Vector3 normal = velrelOrthog.normalized();
+				real_t denom = A->compute_angular_impulse_denominator(normal) +
+					B->compute_angular_impulse_denominator(normal);
+				// scale for mass and relaxation
+				velrelOrthog *= (real_t(1.)/denom) * m_relaxationFactor;
+			}
+
+			//solve angular positional correction
+			Vector3 angularError = -axisA.cross(axisB) *(real_t(1.)/p_step);
+			real_t len2 = angularError.length();
+			if (len2>real_t(0.00001))
+			{
+				Vector3 normal2 = angularError.normalized();
+				real_t denom2 = A->compute_angular_impulse_denominator(normal2) +
+						B->compute_angular_impulse_denominator(normal2);
+				angularError *= (real_t(1.)/denom2) * relaxation;
+			}
+
+			A->apply_torque_impulse(-velrelOrthog+angularError);
+			B->apply_torque_impulse(velrelOrthog-angularError);
+
+			// solve limit
+			if (m_solveLimit)
+			{
+				real_t amplitude = ( (angVelB - angVelA).dot( axisA )*m_relaxationFactor + m_correction* (real_t(1.)/p_step)*m_biasFactor  ) * m_limitSign;
+
+				real_t impulseMag = amplitude * m_kHinge;
+
+				// Clamp the accumulated impulse
+				real_t temp = m_accLimitImpulse;
+				m_accLimitImpulse = MAX(m_accLimitImpulse + impulseMag, real_t(0) );
+				impulseMag = m_accLimitImpulse - temp;
+
+
+				Vector3 impulse = axisA * impulseMag * m_limitSign;
+				A->apply_torque_impulse(impulse);
+				B->apply_torque_impulse(-impulse);
+			}
+		}
+
+		//apply motor
+		if (m_enableAngularMotor)
+		{
+			//todo: add limits too
+			Vector3 angularLimit(0,0,0);
+
+			Vector3 velrel = angVelAroundHingeAxisA - angVelAroundHingeAxisB;
+			real_t projRelVel = velrel.dot(axisA);
+
+			real_t desiredMotorVel = m_motorTargetVelocity;
+			real_t motor_relvel = desiredMotorVel - projRelVel;
+
+			real_t unclippedMotorImpulse = m_kHinge * motor_relvel;;
+			//todo: should clip against accumulated impulse
+			real_t clippedMotorImpulse = unclippedMotorImpulse > m_maxMotorImpulse ? m_maxMotorImpulse : unclippedMotorImpulse;
+			clippedMotorImpulse = clippedMotorImpulse < -m_maxMotorImpulse ? -m_maxMotorImpulse : clippedMotorImpulse;
+			Vector3 motorImp = clippedMotorImpulse * axisA;
+
+			A->apply_torque_impulse(motorImp+angularLimit);
+			B->apply_torque_impulse(-motorImp-angularLimit);
+
+		}
+	}
+
+}
+/*
+void	HingeJointSW::updateRHS(real_t	timeStep)
+{
+	(void)timeStep;
+
+}
+*/
+
+static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x)
+{
+	real_t coeff_1 = Math_PI / 4.0f;
+	real_t coeff_2 = 3.0f * coeff_1;
+	real_t abs_y = Math::abs(y);
+	real_t angle;
+	if (x >= 0.0f) {
+		real_t r = (x - abs_y) / (x + abs_y);
+		angle = coeff_1 - coeff_1 * r;
+	} else {
+		real_t r = (x + abs_y) / (abs_y - x);
+		angle = coeff_2 - coeff_1 * r;
+	}
+	return (y < 0.0f) ? -angle : angle;
+}
+
+
+real_t HingeJointSW::get_hinge_angle() {
+	const Vector3 refAxis0  = A->get_transform().basis.xform( m_rbAFrame.basis.get_axis(0) );
+	const Vector3 refAxis1  = A->get_transform().basis.xform( m_rbAFrame.basis.get_axis(1) );
+	const Vector3 swingAxis = B->get_transform().basis.xform( m_rbBFrame.basis.get_axis(1) );
+
+	return atan2fast( swingAxis.dot(refAxis0), swingAxis.dot(refAxis1)  );
+}
+
+
+void HingeJointSW::set_param(PhysicsServer::HingeJointParam p_param, float p_value) {
+
+	switch (p_param) {
+
+		case PhysicsServer::HINGE_JOINT_BIAS: tau=p_value; break;
+		case PhysicsServer::HINGE_JOINT_LIMIT_UPPER: m_upperLimit=p_value; break;
+		case PhysicsServer::HINGE_JOINT_LIMIT_LOWER: m_lowerLimit=p_value; break;
+		case PhysicsServer::HINGE_JOINT_LIMIT_BIAS: m_biasFactor=p_value; break;
+		case PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS: m_limitSoftness=p_value; break;
+		case PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION: m_relaxationFactor=p_value; break;
+		case PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY: m_motorTargetVelocity=p_value; break;
+		case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE: m_maxMotorImpulse=p_value; break;
+
+	}
+}
+
+float HingeJointSW::get_param(PhysicsServer::HingeJointParam p_param) const{
+
+	switch (p_param) {
+
+		case PhysicsServer::HINGE_JOINT_BIAS: return tau;
+		case PhysicsServer::HINGE_JOINT_LIMIT_UPPER: return m_upperLimit;
+		case PhysicsServer::HINGE_JOINT_LIMIT_LOWER: return m_lowerLimit;
+		case PhysicsServer::HINGE_JOINT_LIMIT_BIAS: return m_biasFactor;
+		case PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS: return m_limitSoftness;
+		case PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION: return m_relaxationFactor;
+		case PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY: return m_motorTargetVelocity;
+		case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE: return m_maxMotorImpulse;
+
+	}
+
+	return 0;
+}
+
+void HingeJointSW::set_flag(PhysicsServer::HingeJointFlag p_flag, bool p_value){
+
+	print_line(p_flag+": "+itos(p_value));
+	switch (p_flag) {
+		case PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT: m_useLimit=p_value; break;
+		case PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR: m_enableAngularMotor=p_value; break;
+	}
+
+}
+bool HingeJointSW::get_flag(PhysicsServer::HingeJointFlag p_flag) const{
+
+	switch (p_flag) {
+		case PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT: return m_useLimit;
+		case PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR:return m_enableAngularMotor;
+	}
+
+	return false;
+}
diff --git a/servers/physics/joints/hinge_joint_sw.h b/servers/physics/joints/hinge_joint_sw.h
new file mode 100644
index 0000000000..4f6cdaf799
--- /dev/null
+++ b/servers/physics/joints/hinge_joint_sw.h
@@ -0,0 +1,89 @@
+#ifndef HINGE_JOINT_SW_H
+#define HINGE_JOINT_SW_H
+
+#include "servers/physics/joints_sw.h"
+#include "servers/physics/joints/jacobian_entry_sw.h"
+
+
+/*
+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.
+*/
+
+
+
+class HingeJointSW : public JointSW {
+
+	union {
+		struct {
+			BodySW *A;
+			BodySW *B;
+		};
+
+		BodySW *_arr[2];
+	};
+
+	JacobianEntrySW	m_jac[3]; //3 orthogonal linear constraints
+	JacobianEntrySW	m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor
+
+	Transform m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+	Transform m_rbBFrame;
+
+	real_t	m_motorTargetVelocity;
+	real_t	m_maxMotorImpulse;
+
+	real_t	m_limitSoftness;
+	real_t	m_biasFactor;
+	real_t    m_relaxationFactor;
+
+	real_t    m_lowerLimit;
+	real_t    m_upperLimit;
+
+	real_t	m_kHinge;
+
+	real_t	m_limitSign;
+	real_t	m_correction;
+
+	real_t	m_accLimitImpulse;
+
+	real_t tau;
+
+	bool            m_useLimit;
+	bool		m_angularOnly;
+	bool		m_enableAngularMotor;
+	bool		m_solveLimit;
+
+	real_t m_appliedImpulse;
+
+
+public:
+
+	virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_HINGE; }
+
+	virtual bool setup(float p_step);
+	virtual void solve(float p_step);
+
+	real_t get_hinge_angle();
+
+	void set_param(PhysicsServer::HingeJointParam p_param, float p_value);
+	float get_param(PhysicsServer::HingeJointParam p_param) const;
+
+	void set_flag(PhysicsServer::HingeJointFlag p_flag, bool p_value);
+	bool get_flag(PhysicsServer::HingeJointFlag p_flag) const;
+
+	HingeJointSW(BodySW* rbA,BodySW* rbB, const Transform& frameA, const Transform& frameB);
+	HingeJointSW(BodySW* rbA,BodySW* rbB, const Vector3& pivotInA,const Vector3& pivotInB, const Vector3& axisInA,const Vector3& axisInB);
+
+};
+
+#endif // HINGE_JOINT_SW_H
diff --git a/servers/physics/joints/jacobian_entry_sw.cpp b/servers/physics/joints/jacobian_entry_sw.cpp
new file mode 100644
index 0000000000..faa3cf15c4
--- /dev/null
+++ b/servers/physics/joints/jacobian_entry_sw.cpp
@@ -0,0 +1,2 @@
+#include "jacobian_entry_sw.h"
+
diff --git a/servers/physics/joints/jacobian_entry_sw.h b/servers/physics/joints/jacobian_entry_sw.h
new file mode 100644
index 0000000000..16fa034215
--- /dev/null
+++ b/servers/physics/joints/jacobian_entry_sw.h
@@ -0,0 +1,146 @@
+#ifndef JACOBIAN_ENTRY_SW_H
+#define JACOBIAN_ENTRY_SW_H
+
+/*
+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.
+*/
+
+#include "transform.h"
+
+class JacobianEntrySW {
+public:
+	JacobianEntrySW() {};
+	//constraint between two different rigidbodies
+	JacobianEntrySW(
+		const Matrix3& world2A,
+		const Matrix3& world2B,
+		const Vector3& rel_pos1,const Vector3& rel_pos2,
+		const Vector3& jointAxis,
+		const Vector3& inertiaInvA,
+		const real_t massInvA,
+		const Vector3& inertiaInvB,
+		const real_t massInvB)
+		:m_linearJointAxis(jointAxis)
+	{
+		m_aJ = world2A.xform(rel_pos1.cross(m_linearJointAxis));
+		m_bJ = world2B.xform(rel_pos2.cross(-m_linearJointAxis));
+		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_1MinvJt = inertiaInvB * m_bJ;
+		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
+
+		ERR_FAIL_COND(m_Adiag <= real_t(0.0));
+	}
+
+	//angular constraint between two different rigidbodies
+	JacobianEntrySW(const Vector3& jointAxis,
+		const Matrix3& world2A,
+		const Matrix3& world2B,
+		const Vector3& inertiaInvA,
+		const Vector3& inertiaInvB)
+		:m_linearJointAxis(Vector3(real_t(0.),real_t(0.),real_t(0.)))
+	{
+		m_aJ= world2A.xform(jointAxis);
+		m_bJ = world2B.xform(-jointAxis);
+		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_1MinvJt = inertiaInvB * m_bJ;
+		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
+
+		ERR_FAIL_COND(m_Adiag <= real_t(0.0));
+	}
+
+	//angular constraint between two different rigidbodies
+	JacobianEntrySW(const Vector3& axisInA,
+		const Vector3& axisInB,
+		const Vector3& inertiaInvA,
+		const Vector3& inertiaInvB)
+		: m_linearJointAxis(Vector3(real_t(0.),real_t(0.),real_t(0.)))
+		, m_aJ(axisInA)
+		, m_bJ(-axisInB)
+	{
+		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_1MinvJt = inertiaInvB * m_bJ;
+		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
+
+		ERR_FAIL_COND(m_Adiag <= real_t(0.0));
+	}
+
+	//constraint on one rigidbody
+	JacobianEntrySW(
+		const Matrix3& world2A,
+		const Vector3& rel_pos1,const Vector3& rel_pos2,
+		const Vector3& jointAxis,
+		const Vector3& inertiaInvA,
+		const real_t massInvA)
+		:m_linearJointAxis(jointAxis)
+	{
+		m_aJ= world2A.xform(rel_pos1.cross(jointAxis));
+		m_bJ = world2A.xform(rel_pos2.cross(-jointAxis));
+		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_1MinvJt = Vector3(real_t(0.),real_t(0.),real_t(0.));
+		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
+
+		ERR_FAIL_COND(m_Adiag <= real_t(0.0));
+	}
+
+	real_t	getDiagonal() const { return m_Adiag; }
+
+	// for two constraints on the same rigidbody (for example vehicle friction)
+	real_t	getNonDiagonal(const JacobianEntrySW& jacB, const real_t massInvA) const
+	{
+		const JacobianEntrySW& jacA = *this;
+		real_t lin = massInvA * jacA.m_linearJointAxis.dot(jacB.m_linearJointAxis);
+		real_t ang = jacA.m_0MinvJt.dot(jacB.m_aJ);
+		return lin + ang;
+	}
+
+
+
+	// for two constraints on sharing two same rigidbodies (for example two contact points between two rigidbodies)
+	real_t	getNonDiagonal(const JacobianEntrySW& jacB,const real_t massInvA,const real_t massInvB) const
+	{
+		const JacobianEntrySW& jacA = *this;
+		Vector3 lin = jacA.m_linearJointAxis * jacB.m_linearJointAxis;
+		Vector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ;
+		Vector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ;
+		Vector3 lin0 = massInvA * lin ;
+		Vector3 lin1 = massInvB * lin;
+		Vector3 sum = ang0+ang1+lin0+lin1;
+		return sum[0]+sum[1]+sum[2];
+	}
+
+	real_t getRelativeVelocity(const Vector3& linvelA,const Vector3& angvelA,const Vector3& linvelB,const Vector3& angvelB)
+	{
+		Vector3 linrel = linvelA - linvelB;
+		Vector3 angvela  = angvelA * m_aJ;
+		Vector3 angvelb  = angvelB * m_bJ;
+		linrel *= m_linearJointAxis;
+		angvela += angvelb;
+		angvela += linrel;
+		real_t rel_vel2 = angvela[0]+angvela[1]+angvela[2];
+		return rel_vel2 + CMP_EPSILON;
+	}
+//private:
+
+	Vector3	m_linearJointAxis;
+	Vector3	m_aJ;
+	Vector3	m_bJ;
+	Vector3	m_0MinvJt;
+	Vector3	m_1MinvJt;
+	//Optimization: can be stored in the w/last component of one of the vectors
+	real_t	m_Adiag;
+
+};
+
+
+#endif // JACOBIAN_ENTRY_SW_H
diff --git a/servers/physics/joints/pin_joint_sw.cpp b/servers/physics/joints/pin_joint_sw.cpp
new file mode 100644
index 0000000000..229863fb7b
--- /dev/null
+++ b/servers/physics/joints/pin_joint_sw.cpp
@@ -0,0 +1,127 @@
+#include "pin_joint_sw.h"
+
+bool PinJointSW::setup(float p_step) {
+
+	m_appliedImpulse = real_t(0.);
+
+	Vector3	normal(0,0,0);
+
+	for (int i=0;i<3;i++)
+	{
+		normal[i] = 1;
+		memnew_placement(&m_jac[i],JacobianEntrySW(
+			A->get_transform().basis.transposed(),
+			B->get_transform().basis.transposed(),
+			A->get_transform().xform(m_pivotInA) - A->get_transform().origin,
+			B->get_transform().xform(m_pivotInB) - B->get_transform().origin,
+			normal,
+			A->get_inv_inertia(),
+			A->get_inv_mass(),
+			B->get_inv_inertia(),
+			B->get_inv_mass()));
+		normal[i] = 0;
+	}
+
+	return true;
+}
+
+void PinJointSW::solve(float p_step){
+
+	Vector3 pivotAInW = A->get_transform().xform(m_pivotInA);
+	Vector3 pivotBInW = B->get_transform().xform(m_pivotInB);
+
+
+	Vector3 normal(0,0,0);
+
+
+//	Vector3 angvelA = A->get_transform().origin.getBasis().transpose() * A->getAngularVelocity();
+//	Vector3 angvelB = B->get_transform().origin.getBasis().transpose() * B->getAngularVelocity();
+
+	for (int i=0;i<3;i++)
+	{
+		normal[i] = 1;
+		real_t jacDiagABInv = real_t(1.) / m_jac[i].getDiagonal();
+
+		Vector3 rel_pos1 = pivotAInW - A->get_transform().origin;
+		Vector3 rel_pos2 = pivotBInW - B->get_transform().origin;
+		//this jacobian entry could be re-used for all iterations
+
+		Vector3 vel1 = A->get_velocity_in_local_point(rel_pos1);
+		Vector3 vel2 = B->get_velocity_in_local_point(rel_pos2);
+		Vector3 vel = vel1 - vel2;
+
+		real_t rel_vel;
+		rel_vel = normal.dot(vel);
+
+	/*
+		//velocity error (first order error)
+		real_t rel_vel = m_jac[i].getRelativeVelocity(A->getLinearVelocity(),angvelA,
+														B->getLinearVelocity(),angvelB);
+	*/
+
+		//positional error (zeroth order error)
+		real_t depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
+
+		real_t impulse = depth*m_tau/p_step  * jacDiagABInv -  m_damping * rel_vel * jacDiagABInv;
+
+		real_t impulseClamp = m_impulseClamp;
+		if (impulseClamp > 0)
+		{
+			if (impulse < -impulseClamp)
+				impulse = -impulseClamp;
+			if (impulse > impulseClamp)
+				impulse = impulseClamp;
+		}
+
+		m_appliedImpulse+=impulse;
+		Vector3 impulse_vector = normal * impulse;
+		A->apply_impulse(pivotAInW - A->get_transform().origin,impulse_vector);
+		B->apply_impulse(pivotBInW - B->get_transform().origin,-impulse_vector);
+
+		normal[i] = 0;
+	}
+}
+
+void PinJointSW::set_param(PhysicsServer::PinJointParam p_param,float p_value) {
+
+	switch(p_param)	 {
+		case PhysicsServer::PIN_JOINT_BIAS: m_tau=p_value; break;
+		case PhysicsServer::PIN_JOINT_DAMPING: m_damping=p_value; break;
+		case PhysicsServer::PIN_JOINT_IMPULSE_CLAMP: m_impulseClamp=p_value; break;
+	}
+}
+
+float PinJointSW::get_param(PhysicsServer::PinJointParam p_param) const{
+
+	switch(p_param)	 {
+		case PhysicsServer::PIN_JOINT_BIAS: return m_tau;
+		case PhysicsServer::PIN_JOINT_DAMPING: return m_damping;
+		case PhysicsServer::PIN_JOINT_IMPULSE_CLAMP: return m_impulseClamp;
+	}
+
+	return 0;
+}
+
+PinJointSW::PinJointSW(BodySW* p_body_a,const Vector3& p_pos_a,BodySW* p_body_b,const Vector3& p_pos_b) : JointSW(_arr,2) {
+
+	A=p_body_a;
+	B=p_body_b;
+	m_pivotInA=p_pos_a;
+	m_pivotInB=p_pos_b;
+
+	m_tau=0.3;
+	m_damping=1;
+	m_impulseClamp=0;
+	m_appliedImpulse=0;
+
+	A->add_constraint(this,0);
+	B->add_constraint(this,1);
+
+
+}
+
+PinJointSW::~PinJointSW() {
+
+
+
+}
diff --git a/servers/physics/joints/pin_joint_sw.h b/servers/physics/joints/pin_joint_sw.h
new file mode 100644
index 0000000000..dae6e7d5f2
--- /dev/null
+++ b/servers/physics/joints/pin_joint_sw.h
@@ -0,0 +1,67 @@
+#ifndef PIN_JOINT_SW_H
+#define PIN_JOINT_SW_H
+
+#include "servers/physics/joints_sw.h"
+#include "servers/physics/joints/jacobian_entry_sw.h"
+
+/*
+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.
+*/
+
+
+class PinJointSW : public JointSW {
+
+	union {
+		struct {
+			BodySW *A;
+			BodySW *B;
+		};
+
+		BodySW *_arr[2];
+	};
+
+
+	real_t	m_tau; //bias
+	real_t	m_damping;
+	real_t	m_impulseClamp;
+	real_t  m_appliedImpulse;
+
+	JacobianEntrySW	m_jac[3]; //3 orthogonal linear constraints
+
+	Vector3	m_pivotInA;
+	Vector3	m_pivotInB;
+
+public:
+
+	virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_PIN; }
+
+	virtual bool setup(float p_step);
+	virtual void solve(float p_step);
+
+	void set_param(PhysicsServer::PinJointParam p_param,float p_value);
+	float get_param(PhysicsServer::PinJointParam p_param) const;
+
+	void set_pos_A(const Vector3& p_pos) { m_pivotInA=p_pos; }
+	void set_pos_B(const Vector3& p_pos) { m_pivotInB=p_pos; }
+
+	Vector3 get_pos_A() { return m_pivotInB; }
+	Vector3 get_pos_B() { return m_pivotInA; }
+
+	PinJointSW(BodySW* p_body_a,const Vector3& p_pos_a,BodySW* p_body_b,const Vector3& p_pos_b);
+	~PinJointSW();
+};
+
+
+
+#endif // PIN_JOINT_SW_H
diff --git a/servers/physics/joints/slider_joint_sw.cpp b/servers/physics/joints/slider_joint_sw.cpp
new file mode 100644
index 0000000000..faa6875378
--- /dev/null
+++ b/servers/physics/joints/slider_joint_sw.cpp
@@ -0,0 +1,439 @@
+#include "slider_joint_sw.h"
+
+//-----------------------------------------------------------------------------
+
+static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x)
+{
+	real_t coeff_1 = Math_PI / 4.0f;
+	real_t coeff_2 = 3.0f * coeff_1;
+	real_t abs_y = Math::abs(y);
+	real_t angle;
+	if (x >= 0.0f) {
+		real_t r = (x - abs_y) / (x + abs_y);
+		angle = coeff_1 - coeff_1 * r;
+	} else {
+		real_t r = (x + abs_y) / (abs_y - x);
+		angle = coeff_2 - coeff_1 * r;
+	}
+	return (y < 0.0f) ? -angle : angle;
+}
+
+
+void SliderJointSW::initParams()
+{
+    m_lowerLinLimit = real_t(1.0);
+    m_upperLinLimit = real_t(-1.0);
+    m_lowerAngLimit = real_t(0.);
+    m_upperAngLimit = real_t(0.);
+	m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
+	m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
+	m_dampingDirLin = real_t(0.);
+	m_softnessDirAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
+	m_restitutionDirAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
+	m_dampingDirAng = real_t(0.);
+	m_softnessOrthoLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
+	m_restitutionOrthoLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
+	m_dampingOrthoLin = SLIDER_CONSTRAINT_DEF_DAMPING;
+	m_softnessOrthoAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
+	m_restitutionOrthoAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
+	m_dampingOrthoAng = SLIDER_CONSTRAINT_DEF_DAMPING;
+	m_softnessLimLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
+	m_restitutionLimLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
+	m_dampingLimLin = SLIDER_CONSTRAINT_DEF_DAMPING;
+	m_softnessLimAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
+	m_restitutionLimAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
+	m_dampingLimAng = SLIDER_CONSTRAINT_DEF_DAMPING;
+
+	m_poweredLinMotor = false;
+	m_targetLinMotorVelocity = real_t(0.);
+	m_maxLinMotorForce = real_t(0.);
+	m_accumulatedLinMotorImpulse = real_t(0.0);
+
+	m_poweredAngMotor = false;
+    m_targetAngMotorVelocity = real_t(0.);
+    m_maxAngMotorForce = real_t(0.);
+	m_accumulatedAngMotorImpulse = real_t(0.0);
+
+} // SliderJointSW::initParams()
+
+//-----------------------------------------------------------------------------
+
+
+//-----------------------------------------------------------------------------
+
+SliderJointSW::SliderJointSW(BodySW* rbA, BodySW* rbB, const Transform& frameInA, const Transform& frameInB)
+	:  JointSW(_arr,2)
+	, m_frameInA(frameInA)
+	, m_frameInB(frameInB)
+{
+
+	A=rbA;
+	B=rbB;
+
+	A->add_constraint(this,0);
+	B->add_constraint(this,1);
+
+	initParams();
+} // SliderJointSW::SliderJointSW()
+
+//-----------------------------------------------------------------------------
+
+bool SliderJointSW::setup(float p_step)
+{
+
+	//calculate transforms
+    m_calculatedTransformA = A->get_transform() * m_frameInA;
+    m_calculatedTransformB = B->get_transform() * m_frameInB;
+	m_realPivotAInW = m_calculatedTransformA.origin;
+	m_realPivotBInW = m_calculatedTransformB.origin;
+	m_sliderAxis = m_calculatedTransformA.basis.get_axis(0); // along X
+	m_delta = m_realPivotBInW - m_realPivotAInW;
+	m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
+	m_relPosA = m_projPivotInW - A->get_transform().origin;
+	m_relPosB = m_realPivotBInW - B->get_transform().origin;
+    Vector3 normalWorld;
+    int i;
+    //linear part
+    for(i = 0; i < 3; i++)
+    {
+		normalWorld = m_calculatedTransformA.basis.get_axis(i);
+		memnew_placement(&m_jacLin[i], JacobianEntrySW(
+			A->get_transform().basis.transposed(),
+			B->get_transform().basis.transposed(),
+			m_relPosA,
+			m_relPosB,
+			normalWorld,
+			A->get_inv_inertia(),
+			A->get_inv_mass(),
+			B->get_inv_inertia(),
+			B->get_inv_mass()
+			));
+		m_jacLinDiagABInv[i] = real_t(1.) / m_jacLin[i].getDiagonal();
+		m_depth[i] = m_delta.dot(normalWorld);
+    }
+	testLinLimits();
+    // angular part
+    for(i = 0; i < 3; i++)
+    {
+		normalWorld = m_calculatedTransformA.basis.get_axis(i);
+		memnew_placement(&m_jacAng[i],	JacobianEntrySW(
+			normalWorld,
+	    A->get_transform().basis.transposed(),
+	    B->get_transform().basis.transposed(),
+	    A->get_inv_inertia(),
+	    B->get_inv_inertia()
+			));
+	}
+	testAngLimits();
+	Vector3 axisA = m_calculatedTransformA.basis.get_axis(0);
+	m_kAngle = real_t(1.0 )/ (A->compute_angular_impulse_denominator(axisA) + B->compute_angular_impulse_denominator(axisA));
+	// clear accumulator for motors
+	m_accumulatedLinMotorImpulse = real_t(0.0);
+	m_accumulatedAngMotorImpulse = real_t(0.0);
+
+	return true;
+} // SliderJointSW::buildJacobianInt()
+
+//-----------------------------------------------------------------------------
+
+void SliderJointSW::solve(real_t p_step) {
+
+    int i;
+    // linear
+    Vector3 velA = A->get_velocity_in_local_point(m_relPosA);
+    Vector3 velB = B->get_velocity_in_local_point(m_relPosB);
+    Vector3 vel = velA - velB;
+	for(i = 0; i < 3; i++)
+    {
+		const Vector3& normal = m_jacLin[i].m_linearJointAxis;
+		real_t rel_vel = normal.dot(vel);
+		// calculate positional error
+		real_t depth = m_depth[i];
+		// get parameters
+		real_t softness = (i) ? m_softnessOrthoLin : (m_solveLinLim ? m_softnessLimLin : m_softnessDirLin);
+		real_t restitution = (i) ? m_restitutionOrthoLin : (m_solveLinLim ? m_restitutionLimLin : m_restitutionDirLin);
+		real_t damping = (i) ? m_dampingOrthoLin : (m_solveLinLim ? m_dampingLimLin : m_dampingDirLin);
+		// calcutate and apply impulse
+		real_t normalImpulse = softness * (restitution * depth / p_step - damping * rel_vel) * m_jacLinDiagABInv[i];
+		Vector3 impulse_vector = normal * normalImpulse;
+		A->apply_impulse( m_relPosA, impulse_vector);
+		B->apply_impulse(m_relPosB,-impulse_vector);
+		if(m_poweredLinMotor && (!i))
+		{ // apply linear motor
+			if(m_accumulatedLinMotorImpulse < m_maxLinMotorForce)
+			{
+				real_t desiredMotorVel = m_targetLinMotorVelocity;
+				real_t motor_relvel = desiredMotorVel + rel_vel;
+				normalImpulse = -motor_relvel * m_jacLinDiagABInv[i];
+				// clamp accumulated impulse
+				real_t new_acc = m_accumulatedLinMotorImpulse + Math::abs(normalImpulse);
+				if(new_acc  > m_maxLinMotorForce)
+				{
+					new_acc = m_maxLinMotorForce;
+				}
+				real_t del = new_acc  - m_accumulatedLinMotorImpulse;
+				if(normalImpulse < real_t(0.0))
+				{
+					normalImpulse = -del;
+				}
+				else
+				{
+					normalImpulse = del;
+				}
+				m_accumulatedLinMotorImpulse = new_acc;
+				// apply clamped impulse
+				impulse_vector = normal * normalImpulse;
+				A->apply_impulse( m_relPosA, impulse_vector);
+				B->apply_impulse( m_relPosB,-impulse_vector);
+			}
+		}
+    }
+	// angular
+	// get axes in world space
+	Vector3 axisA =  m_calculatedTransformA.basis.get_axis(0);
+	Vector3 axisB =  m_calculatedTransformB.basis.get_axis(0);
+
+	const Vector3& angVelA = A->get_angular_velocity();
+	const Vector3& angVelB = B->get_angular_velocity();
+
+	Vector3 angVelAroundAxisA = axisA * axisA.dot(angVelA);
+	Vector3 angVelAroundAxisB = axisB * axisB.dot(angVelB);
+
+	Vector3 angAorthog = angVelA - angVelAroundAxisA;
+	Vector3 angBorthog = angVelB - angVelAroundAxisB;
+	Vector3 velrelOrthog = angAorthog-angBorthog;
+	//solve orthogonal angular velocity correction
+	real_t len = velrelOrthog.length();
+	if (len > real_t(0.00001))
+	{
+		Vector3 normal = velrelOrthog.normalized();
+		real_t denom = A->compute_angular_impulse_denominator(normal) + B->compute_angular_impulse_denominator(normal);
+		velrelOrthog *= (real_t(1.)/denom) * m_dampingOrthoAng * m_softnessOrthoAng;
+	}
+	//solve angular positional correction
+	Vector3 angularError = axisA.cross(axisB) *(real_t(1.)/p_step);
+	real_t len2 = angularError.length();
+	if (len2>real_t(0.00001))
+	{
+		Vector3 normal2 = angularError.normalized();
+		real_t denom2 = A->compute_angular_impulse_denominator(normal2) + B->compute_angular_impulse_denominator(normal2);
+		angularError *= (real_t(1.)/denom2) * m_restitutionOrthoAng * m_softnessOrthoAng;
+	}
+	// apply impulse
+	A->apply_torque_impulse(-velrelOrthog+angularError);
+	B->apply_torque_impulse(velrelOrthog-angularError);
+	real_t impulseMag;
+	//solve angular limits
+	if(m_solveAngLim)
+	{
+		impulseMag = (angVelB - angVelA).dot(axisA) * m_dampingLimAng + m_angDepth * m_restitutionLimAng / p_step;
+		impulseMag *= m_kAngle * m_softnessLimAng;
+	}
+	else
+	{
+		impulseMag = (angVelB - angVelA).dot(axisA) * m_dampingDirAng + m_angDepth * m_restitutionDirAng / p_step;
+		impulseMag *= m_kAngle * m_softnessDirAng;
+	}
+	Vector3 impulse = axisA * impulseMag;
+	A->apply_torque_impulse(impulse);
+	B->apply_torque_impulse(-impulse);
+	//apply angular motor
+	if(m_poweredAngMotor)
+	{
+		if(m_accumulatedAngMotorImpulse < m_maxAngMotorForce)
+		{
+			Vector3 velrel = angVelAroundAxisA - angVelAroundAxisB;
+			real_t projRelVel = velrel.dot(axisA);
+
+			real_t desiredMotorVel = m_targetAngMotorVelocity;
+			real_t motor_relvel = desiredMotorVel - projRelVel;
+
+			real_t angImpulse = m_kAngle * motor_relvel;
+			// clamp accumulated impulse
+			real_t new_acc = m_accumulatedAngMotorImpulse + Math::abs(angImpulse);
+			if(new_acc  > m_maxAngMotorForce)
+			{
+				new_acc = m_maxAngMotorForce;
+			}
+			real_t del = new_acc  - m_accumulatedAngMotorImpulse;
+			if(angImpulse < real_t(0.0))
+			{
+				angImpulse = -del;
+			}
+			else
+			{
+				angImpulse = del;
+			}
+			m_accumulatedAngMotorImpulse = new_acc;
+			// apply clamped impulse
+			Vector3 motorImp = angImpulse * axisA;
+			A->apply_torque_impulse(motorImp);
+			B->apply_torque_impulse(-motorImp);
+		}
+	}
+} // SliderJointSW::solveConstraint()
+
+//-----------------------------------------------------------------------------
+
+//-----------------------------------------------------------------------------
+
+void SliderJointSW::calculateTransforms(void){
+	m_calculatedTransformA = A->get_transform() * m_frameInA ;
+	m_calculatedTransformB = B->get_transform() * m_frameInB;
+	m_realPivotAInW = m_calculatedTransformA.origin;
+	m_realPivotBInW = m_calculatedTransformB.origin;
+	m_sliderAxis = m_calculatedTransformA.basis.get_axis(0); // along X
+	m_delta = m_realPivotBInW - m_realPivotAInW;
+	m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
+    Vector3 normalWorld;
+    int i;
+    //linear part
+    for(i = 0; i < 3; i++)
+    {
+		normalWorld = m_calculatedTransformA.basis.get_axis(i);
+		m_depth[i] = m_delta.dot(normalWorld);
+    }
+} // SliderJointSW::calculateTransforms()
+
+//-----------------------------------------------------------------------------
+
+void SliderJointSW::testLinLimits(void)
+{
+	m_solveLinLim = false;
+	m_linPos = m_depth[0];
+	if(m_lowerLinLimit <= m_upperLinLimit)
+	{
+		if(m_depth[0] > m_upperLinLimit)
+		{
+			m_depth[0] -= m_upperLinLimit;
+			m_solveLinLim = true;
+		}
+		else if(m_depth[0] < m_lowerLinLimit)
+		{
+			m_depth[0] -= m_lowerLinLimit;
+			m_solveLinLim = true;
+		}
+		else
+		{
+			m_depth[0] = real_t(0.);
+		}
+	}
+	else
+	{
+		m_depth[0] = real_t(0.);
+	}
+} // SliderJointSW::testLinLimits()
+
+//-----------------------------------------------------------------------------
+
+
+void SliderJointSW::testAngLimits(void)
+{
+	m_angDepth = real_t(0.);
+	m_solveAngLim = false;
+	if(m_lowerAngLimit <= m_upperAngLimit)
+	{
+		const Vector3 axisA0 = m_calculatedTransformA.basis.get_axis(1);
+		const Vector3 axisA1 = m_calculatedTransformA.basis.get_axis(2);
+		const Vector3 axisB0 = m_calculatedTransformB.basis.get_axis(1);
+		real_t rot = atan2fast(axisB0.dot(axisA1), axisB0.dot(axisA0));
+		if(rot < m_lowerAngLimit)
+		{
+			m_angDepth = rot - m_lowerAngLimit;
+			m_solveAngLim = true;
+		}
+		else if(rot > m_upperAngLimit)
+		{
+			m_angDepth = rot - m_upperAngLimit;
+			m_solveAngLim = true;
+		}
+	}
+} // SliderJointSW::testAngLimits()
+
+
+//-----------------------------------------------------------------------------
+
+
+
+Vector3 SliderJointSW::getAncorInA(void)
+{
+	Vector3 ancorInA;
+	ancorInA = m_realPivotAInW + (m_lowerLinLimit + m_upperLinLimit) * real_t(0.5) * m_sliderAxis;
+	ancorInA = A->get_transform().inverse().xform( ancorInA );
+	return ancorInA;
+} // SliderJointSW::getAncorInA()
+
+//-----------------------------------------------------------------------------
+
+Vector3 SliderJointSW::getAncorInB(void)
+{
+	Vector3 ancorInB;
+	ancorInB = m_frameInB.origin;
+	return ancorInB;
+} // SliderJointSW::getAncorInB();
+
+void SliderJointSW::set_param(PhysicsServer::SliderJointParam p_param, float p_value) {
+
+	switch(p_param) {
+		case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER: m_upperLinLimit=p_value; break;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER: m_lowerLinLimit=p_value; break;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS: m_softnessLimLin=p_value; break;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION: m_restitutionLimLin=p_value; break;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING: m_dampingLimLin=p_value; break;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS: m_softnessDirLin=p_value; break;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION: m_restitutionDirLin=p_value; break;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_DAMPING: m_dampingDirLin=p_value; break;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS: m_softnessOrthoLin=p_value; break;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION: m_restitutionOrthoLin=p_value; break;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING: m_dampingOrthoLin=p_value; break;
+
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER: m_upperAngLimit=p_value; break;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER: m_lowerAngLimit=p_value; break;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS: m_softnessLimAng=p_value; break;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION: m_restitutionLimAng=p_value; break;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING: m_dampingLimAng=p_value; break;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS: m_softnessDirAng=p_value; break;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION: m_restitutionDirAng=p_value; break;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_DAMPING: m_dampingDirAng=p_value; break;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: m_softnessOrthoAng=p_value; break;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: m_restitutionOrthoAng=p_value; break;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: m_dampingOrthoAng=p_value; break;
+
+	}
+
+}
+
+float SliderJointSW::get_param(PhysicsServer::SliderJointParam p_param) const {
+
+	switch(p_param) {
+		case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER: return m_upperLinLimit;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER: return m_lowerLinLimit;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS: return m_softnessLimLin;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION: return m_restitutionLimLin;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING: return m_dampingLimLin;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS: return m_softnessDirLin;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION: return m_restitutionDirLin;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_DAMPING: return m_dampingDirLin;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS: return m_softnessOrthoLin;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION: return m_restitutionOrthoLin;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING: return m_dampingOrthoLin;
+
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER: return m_upperAngLimit;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER: return m_lowerAngLimit;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS: return m_softnessLimAng;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION: return m_restitutionLimAng;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING: return m_dampingLimAng;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS: return m_softnessDirAng;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION: return m_restitutionDirAng;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_DAMPING: return m_dampingDirAng;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: return m_softnessOrthoAng;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: return m_restitutionOrthoAng;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: return m_dampingOrthoAng;
+
+	}
+
+	return 0;
+
+}
+
+
diff --git a/servers/physics/joints/slider_joint_sw.h b/servers/physics/joints/slider_joint_sw.h
new file mode 100644
index 0000000000..517bb5e6bc
--- /dev/null
+++ b/servers/physics/joints/slider_joint_sw.h
@@ -0,0 +1,218 @@
+#ifndef SLIDER_JOINT_SW_H
+#define SLIDER_JOINT_SW_H
+
+#include "servers/physics/joints_sw.h"
+#include "servers/physics/joints/jacobian_entry_sw.h"
+
+
+/*
+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.
+*/
+
+/*
+Added by Roman Ponomarev (rponom@gmail.com)
+April 04, 2008
+
+*/
+
+#define SLIDER_CONSTRAINT_DEF_SOFTNESS		(real_t(1.0))
+#define SLIDER_CONSTRAINT_DEF_DAMPING		(real_t(1.0))
+#define SLIDER_CONSTRAINT_DEF_RESTITUTION	(real_t(0.7))
+
+//-----------------------------------------------------------------------------
+
+class SliderJointSW : public JointSW {
+protected:
+
+	union {
+		struct {
+			BodySW *A;
+			BodySW *B;
+		};
+
+		BodySW *_arr[2];
+	};
+
+	Transform	m_frameInA;
+    Transform	m_frameInB;
+
+	// linear limits
+	real_t m_lowerLinLimit;
+	real_t m_upperLinLimit;
+	// angular limits
+	real_t m_lowerAngLimit;
+	real_t m_upperAngLimit;
+	// softness, restitution and damping for different cases
+	// DirLin - moving inside linear limits
+	// LimLin - hitting linear limit
+	// DirAng - moving inside angular limits
+	// LimAng - hitting angular limit
+	// OrthoLin, OrthoAng - against constraint axis
+	real_t m_softnessDirLin;
+	real_t m_restitutionDirLin;
+	real_t m_dampingDirLin;
+	real_t m_softnessDirAng;
+	real_t m_restitutionDirAng;
+	real_t m_dampingDirAng;
+	real_t m_softnessLimLin;
+	real_t m_restitutionLimLin;
+	real_t m_dampingLimLin;
+	real_t m_softnessLimAng;
+	real_t m_restitutionLimAng;
+	real_t m_dampingLimAng;
+	real_t m_softnessOrthoLin;
+	real_t m_restitutionOrthoLin;
+	real_t m_dampingOrthoLin;
+	real_t m_softnessOrthoAng;
+	real_t m_restitutionOrthoAng;
+	real_t m_dampingOrthoAng;
+
+	// for interlal use
+	bool m_solveLinLim;
+	bool m_solveAngLim;
+
+	JacobianEntrySW	m_jacLin[3];
+	real_t		m_jacLinDiagABInv[3];
+
+    JacobianEntrySW	m_jacAng[3];
+
+	real_t m_timeStep;
+    Transform m_calculatedTransformA;
+    Transform m_calculatedTransformB;
+
+	Vector3 m_sliderAxis;
+	Vector3 m_realPivotAInW;
+	Vector3 m_realPivotBInW;
+	Vector3 m_projPivotInW;
+	Vector3 m_delta;
+	Vector3 m_depth;
+	Vector3 m_relPosA;
+	Vector3 m_relPosB;
+
+	real_t m_linPos;
+
+	real_t m_angDepth;
+	real_t m_kAngle;
+
+	bool	 m_poweredLinMotor;
+    real_t m_targetLinMotorVelocity;
+    real_t m_maxLinMotorForce;
+    real_t m_accumulatedLinMotorImpulse;
+
+	bool	 m_poweredAngMotor;
+    real_t m_targetAngMotorVelocity;
+    real_t m_maxAngMotorForce;
+    real_t m_accumulatedAngMotorImpulse;
+
+	//------------------------
+	void initParams();
+public:
+	// constructors
+    SliderJointSW(BodySW* rbA, BodySW* rbB, const Transform& frameInA, const Transform& frameInB);
+    //SliderJointSW();
+	// overrides
+
+	// access
+    const BodySW* getRigidBodyA() const { return A; }
+    const BodySW* getRigidBodyB() const { return B; }
+    const Transform & getCalculatedTransformA() const { return m_calculatedTransformA; }
+    const Transform & getCalculatedTransformB() const { return m_calculatedTransformB; }
+    const Transform & getFrameOffsetA() const { return m_frameInA; }
+    const Transform & getFrameOffsetB() const { return m_frameInB; }
+    Transform & getFrameOffsetA() { return m_frameInA; }
+    Transform & getFrameOffsetB() { return m_frameInB; }
+    real_t getLowerLinLimit() { return m_lowerLinLimit; }
+    void setLowerLinLimit(real_t lowerLimit) { m_lowerLinLimit = lowerLimit; }
+    real_t getUpperLinLimit() { return m_upperLinLimit; }
+    void setUpperLinLimit(real_t upperLimit) { m_upperLinLimit = upperLimit; }
+    real_t getLowerAngLimit() { return m_lowerAngLimit; }
+    void setLowerAngLimit(real_t lowerLimit) { m_lowerAngLimit = lowerLimit; }
+    real_t getUpperAngLimit() { return m_upperAngLimit; }
+    void setUpperAngLimit(real_t upperLimit) { m_upperAngLimit = upperLimit; }
+
+	real_t getSoftnessDirLin() { return m_softnessDirLin; }
+	real_t getRestitutionDirLin() { return m_restitutionDirLin; }
+	real_t getDampingDirLin() { return m_dampingDirLin ; }
+	real_t getSoftnessDirAng() { return m_softnessDirAng; }
+	real_t getRestitutionDirAng() { return m_restitutionDirAng; }
+	real_t getDampingDirAng() { return m_dampingDirAng; }
+	real_t getSoftnessLimLin() { return m_softnessLimLin; }
+	real_t getRestitutionLimLin() { return m_restitutionLimLin; }
+	real_t getDampingLimLin() { return m_dampingLimLin; }
+	real_t getSoftnessLimAng() { return m_softnessLimAng; }
+	real_t getRestitutionLimAng() { return m_restitutionLimAng; }
+	real_t getDampingLimAng() { return m_dampingLimAng; }
+	real_t getSoftnessOrthoLin() { return m_softnessOrthoLin; }
+	real_t getRestitutionOrthoLin() { return m_restitutionOrthoLin; }
+	real_t getDampingOrthoLin() { return m_dampingOrthoLin; }
+	real_t getSoftnessOrthoAng() { return m_softnessOrthoAng; }
+	real_t getRestitutionOrthoAng() { return m_restitutionOrthoAng; }
+	real_t getDampingOrthoAng() { return m_dampingOrthoAng; }
+	void setSoftnessDirLin(real_t softnessDirLin) { m_softnessDirLin = softnessDirLin; }
+	void setRestitutionDirLin(real_t restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; }
+	void setDampingDirLin(real_t dampingDirLin) { m_dampingDirLin = dampingDirLin; }
+	void setSoftnessDirAng(real_t softnessDirAng) { m_softnessDirAng = softnessDirAng; }
+	void setRestitutionDirAng(real_t restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; }
+	void setDampingDirAng(real_t dampingDirAng) { m_dampingDirAng = dampingDirAng; }
+	void setSoftnessLimLin(real_t softnessLimLin) { m_softnessLimLin = softnessLimLin; }
+	void setRestitutionLimLin(real_t restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; }
+	void setDampingLimLin(real_t dampingLimLin) { m_dampingLimLin = dampingLimLin; }
+	void setSoftnessLimAng(real_t softnessLimAng) { m_softnessLimAng = softnessLimAng; }
+	void setRestitutionLimAng(real_t restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; }
+	void setDampingLimAng(real_t dampingLimAng) { m_dampingLimAng = dampingLimAng; }
+	void setSoftnessOrthoLin(real_t softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; }
+	void setRestitutionOrthoLin(real_t restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; }
+	void setDampingOrthoLin(real_t dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; }
+	void setSoftnessOrthoAng(real_t softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; }
+	void setRestitutionOrthoAng(real_t restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; }
+	void setDampingOrthoAng(real_t dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; }
+	void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; }
+	bool getPoweredLinMotor() { return m_poweredLinMotor; }
+	void setTargetLinMotorVelocity(real_t targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; }
+	real_t getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; }
+	void setMaxLinMotorForce(real_t maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; }
+	real_t getMaxLinMotorForce() { return m_maxLinMotorForce; }
+	void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; }
+	bool getPoweredAngMotor() { return m_poweredAngMotor; }
+	void setTargetAngMotorVelocity(real_t targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; }
+	real_t getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; }
+	void setMaxAngMotorForce(real_t maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; }
+	real_t getMaxAngMotorForce() { return m_maxAngMotorForce; }
+	real_t getLinearPos() { return m_linPos; }
+
+	// access for ODE solver
+	bool getSolveLinLimit() { return m_solveLinLim; }
+	real_t getLinDepth() { return m_depth[0]; }
+	bool getSolveAngLimit() { return m_solveAngLim; }
+	real_t getAngDepth() { return m_angDepth; }
+	// shared code used by ODE solver
+	void	calculateTransforms(void);
+	void	testLinLimits(void);
+	void	testAngLimits(void);
+	// access for PE Solver
+	Vector3 getAncorInA(void);
+	Vector3 getAncorInB(void);
+
+	void set_param(PhysicsServer::SliderJointParam p_param, float p_value);
+	float get_param(PhysicsServer::SliderJointParam p_param) const;
+
+	bool setup(float p_step);
+	void solve(float p_step);
+
+	virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_SLIDER; }
+
+};
+
+
+#endif // SLIDER_JOINT_SW_H