1 files changed, 67 insertions, 0 deletions
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
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+#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