1 files changed, 89 insertions, 0 deletions
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