1 files changed, 807 insertions, 0 deletions

diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp
new file mode 100644
index 0000000000..168a773d56
--- /dev/null
+++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp
@@ -0,0 +1,807 @@
+/*
+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
+Refactored by Francisco Le?n
+email: projectileman@yahoo.com
+http://gimpact.sf.net
+*/
+
+#include "b3Generic6DofConstraint.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
+
+#include "Bullet3Common/b3TransformUtil.h"
+#include "Bullet3Common/b3TransformUtil.h"
+#include <new>
+
+
+
+#define D6_USE_OBSOLETE_METHOD false
+#define D6_USE_FRAME_OFFSET true
+
+
+
+
+
+
+b3Generic6DofConstraint::b3Generic6DofConstraint(int rbA,int  rbB, const b3Transform& frameInA, const b3Transform& frameInB, bool useLinearReferenceFrameA, const b3RigidBodyData* bodies)
+: b3TypedConstraint(B3_D6_CONSTRAINT_TYPE, rbA, rbB)
+, m_frameInA(frameInA)
+, m_frameInB(frameInB),
+m_useLinearReferenceFrameA(useLinearReferenceFrameA),
+m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET),
+m_flags(0)
+{
+	calculateTransforms(bodies);
+}
+
+
+
+
+
+
+#define GENERIC_D6_DISABLE_WARMSTARTING 1
+
+
+
+b3Scalar btGetMatrixElem(const b3Matrix3x3& mat, int index);
+b3Scalar btGetMatrixElem(const b3Matrix3x3& 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 b3Matrix3x3& mat,b3Vector3& xyz);
+bool	matrixToEulerXYZ(const b3Matrix3x3& mat,b3Vector3& 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
+	//
+
+	b3Scalar fi = btGetMatrixElem(mat,2);
+	if (fi < b3Scalar(1.0f))
+	{
+		if (fi > b3Scalar(-1.0f))
+		{
+			xyz[0] = b3Atan2(-btGetMatrixElem(mat,5),btGetMatrixElem(mat,8));
+			xyz[1] = b3Asin(btGetMatrixElem(mat,2));
+			xyz[2] = b3Atan2(-btGetMatrixElem(mat,1),btGetMatrixElem(mat,0));
+			return true;
+		}
+		else
+		{
+			// WARNING.  Not unique.  XA - ZA = -atan2(r10,r11)
+			xyz[0] = -b3Atan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
+			xyz[1] = -B3_HALF_PI;
+			xyz[2] = b3Scalar(0.0);
+			return false;
+		}
+	}
+	else
+	{
+		// WARNING.  Not unique.  XAngle + ZAngle = atan2(r10,r11)
+		xyz[0] = b3Atan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
+		xyz[1] = B3_HALF_PI;
+		xyz[2] = 0.0;
+	}
+	return false;
+}
+
+//////////////////////////// b3RotationalLimitMotor ////////////////////////////////////
+
+int b3RotationalLimitMotor::testLimitValue(b3Scalar 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;
+		if(m_currentLimitError>B3_PI) 
+			m_currentLimitError-=B3_2_PI;
+		else if(m_currentLimitError<-B3_PI) 
+			m_currentLimitError+=B3_2_PI;
+		return 1;
+	}
+	else if (test_value> m_hiLimit)
+	{
+		m_currentLimit = 2;//High limit violation
+		m_currentLimitError = test_value - m_hiLimit;
+		if(m_currentLimitError>B3_PI) 
+			m_currentLimitError-=B3_2_PI;
+		else if(m_currentLimitError<-B3_PI) 
+			m_currentLimitError+=B3_2_PI;
+		return 2;
+	};
+
+	m_currentLimit = 0;//Free from violation
+	return 0;
+
+}
+
+
+
+
+//////////////////////////// End b3RotationalLimitMotor ////////////////////////////////////
+
+
+
+
+//////////////////////////// b3TranslationalLimitMotor ////////////////////////////////////
+
+
+int b3TranslationalLimitMotor::testLimitValue(int limitIndex, b3Scalar test_value)
+{
+	b3Scalar loLimit = m_lowerLimit[limitIndex];
+	b3Scalar hiLimit = m_upperLimit[limitIndex];
+	if(loLimit > hiLimit)
+	{
+		m_currentLimit[limitIndex] = 0;//Free from violation
+		m_currentLimitError[limitIndex] = b3Scalar(0.f);
+		return 0;
+	}
+
+	if (test_value < loLimit)
+	{
+		m_currentLimit[limitIndex] = 2;//low limit violation
+		m_currentLimitError[limitIndex] =  test_value - loLimit;
+		return 2;
+	}
+	else if (test_value> hiLimit)
+	{
+		m_currentLimit[limitIndex] = 1;//High limit violation
+		m_currentLimitError[limitIndex] = test_value - hiLimit;
+		return 1;
+	};
+
+	m_currentLimit[limitIndex] = 0;//Free from violation
+	m_currentLimitError[limitIndex] = b3Scalar(0.f);
+	return 0;
+}
+
+
+
+//////////////////////////// b3TranslationalLimitMotor ////////////////////////////////////
+
+void b3Generic6DofConstraint::calculateAngleInfo()
+{
+	b3Matrix3x3 relative_frame = m_calculatedTransformA.getBasis().inverse()*m_calculatedTransformB.getBasis();
+	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.
+	b3Vector3 axis0 = m_calculatedTransformB.getBasis().getColumn(0);
+	b3Vector3 axis2 = m_calculatedTransformA.getBasis().getColumn(2);
+
+	m_calculatedAxis[1] = axis2.cross(axis0);
+	m_calculatedAxis[0] = m_calculatedAxis[1].cross(axis2);
+	m_calculatedAxis[2] = axis0.cross(m_calculatedAxis[1]);
+
+	m_calculatedAxis[0].normalize();
+	m_calculatedAxis[1].normalize();
+	m_calculatedAxis[2].normalize();
+
+}
+
+static b3Transform getCenterOfMassTransform(const b3RigidBodyData& body)
+{
+	b3Transform tr(body.m_quat,body.m_pos);
+	return tr;
+}
+
+void b3Generic6DofConstraint::calculateTransforms(const b3RigidBodyData* bodies)
+{
+	b3Transform transA;
+	b3Transform transB;
+	transA = getCenterOfMassTransform(bodies[m_rbA]);
+	transB = getCenterOfMassTransform(bodies[m_rbB]);
+	calculateTransforms(transA,transB,bodies);
+}
+
+void b3Generic6DofConstraint::calculateTransforms(const b3Transform& transA,const b3Transform& transB,const b3RigidBodyData* bodies)
+{
+	m_calculatedTransformA = transA * m_frameInA;
+	m_calculatedTransformB = transB * m_frameInB;
+	calculateLinearInfo();
+	calculateAngleInfo();
+	if(m_useOffsetForConstraintFrame)
+	{	//  get weight factors depending on masses
+		b3Scalar miA = bodies[m_rbA].m_invMass;
+		b3Scalar miB = bodies[m_rbB].m_invMass;
+		m_hasStaticBody = (miA < B3_EPSILON) || (miB < B3_EPSILON);
+		b3Scalar miS = miA + miB;
+		if(miS > b3Scalar(0.f))
+		{
+			m_factA = miB / miS;
+		}
+		else 
+		{
+			m_factA = b3Scalar(0.5f);
+		}
+		m_factB = b3Scalar(1.0f) - m_factA;
+	}
+}
+
+
+
+
+
+
+
+bool b3Generic6DofConstraint::testAngularLimitMotor(int axis_index)
+{
+	b3Scalar angle = m_calculatedAxisAngleDiff[axis_index];
+	angle = b3AdjustAngleToLimits(angle, m_angularLimits[axis_index].m_loLimit, m_angularLimits[axis_index].m_hiLimit);
+	m_angularLimits[axis_index].m_currentPosition = angle;
+	//test limits
+	m_angularLimits[axis_index].testLimitValue(angle);
+	return m_angularLimits[axis_index].needApplyTorques();
+}
+
+
+
+
+void b3Generic6DofConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)
+{
+	//prepare constraint
+	calculateTransforms(getCenterOfMassTransform(bodies[m_rbA]),getCenterOfMassTransform(bodies[m_rbB]),bodies);
+	info->m_numConstraintRows = 0;
+	info->nub = 6;
+	int i;
+	//test linear limits
+	for(i = 0; i < 3; i++)
+	{
+		if(m_linearLimits.needApplyForce(i))
+		{
+			info->m_numConstraintRows++;
+			info->nub--;
+		}
+	}
+	//test angular limits
+	for (i=0;i<3 ;i++ )
+	{
+		if(testAngularLimitMotor(i))
+		{
+			info->m_numConstraintRows++;
+			info->nub--;
+		}
+	}
+//	printf("info->m_numConstraintRows=%d\n",info->m_numConstraintRows);
+}
+
+void b3Generic6DofConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)
+{
+	//pre-allocate all 6
+	info->m_numConstraintRows = 6;
+	info->nub = 0;
+}
+
+
+void b3Generic6DofConstraint::getInfo2 (b3ConstraintInfo2* info,const b3RigidBodyData* bodies)
+{
+
+	b3Transform transA = getCenterOfMassTransform(bodies[m_rbA]);
+	b3Transform transB = getCenterOfMassTransform(bodies[m_rbB]);
+	const b3Vector3& linVelA = bodies[m_rbA].m_linVel;
+	const b3Vector3& linVelB = bodies[m_rbB].m_linVel;
+	const b3Vector3& angVelA = bodies[m_rbA].m_angVel;
+	const b3Vector3& angVelB = bodies[m_rbB].m_angVel;
+
+	if(m_useOffsetForConstraintFrame)
+	{ // for stability better to solve angular limits first
+		int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);
+		setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB);
+	}
+	else
+	{ // leave old version for compatibility
+		int row = setLinearLimits(info, 0, transA,transB,linVelA,linVelB,angVelA,angVelB);
+		setAngularLimits(info, row,transA,transB,linVelA,linVelB,angVelA,angVelB);
+	}
+
+}
+
+
+void b3Generic6DofConstraint::getInfo2NonVirtual (b3ConstraintInfo2* info, const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB,const b3RigidBodyData* bodies)
+{
+	
+	//prepare constraint
+	calculateTransforms(transA,transB,bodies);
+
+	int i;
+	for (i=0;i<3 ;i++ )
+	{
+		testAngularLimitMotor(i);
+	}
+
+	if(m_useOffsetForConstraintFrame)
+	{ // for stability better to solve angular limits first
+		int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);
+		setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB);
+	}
+	else
+	{ // leave old version for compatibility
+		int row = setLinearLimits(info, 0, transA,transB,linVelA,linVelB,angVelA,angVelB);
+		setAngularLimits(info, row,transA,transB,linVelA,linVelB,angVelA,angVelB);
+	}
+}
+
+
+
+int b3Generic6DofConstraint::setLinearLimits(b3ConstraintInfo2* info, int row, const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB)
+{
+//	int row = 0;
+	//solve linear limits
+	b3RotationalLimitMotor limot;
+	for (int i=0;i<3 ;i++ )
+	{
+		if(m_linearLimits.needApplyForce(i))
+		{ // re-use rotational motor code
+			limot.m_bounce = b3Scalar(0.f);
+			limot.m_currentLimit = m_linearLimits.m_currentLimit[i];
+			limot.m_currentPosition = m_linearLimits.m_currentLinearDiff[i];
+			limot.m_currentLimitError  = m_linearLimits.m_currentLimitError[i];
+			limot.m_damping  = m_linearLimits.m_damping;
+			limot.m_enableMotor  = m_linearLimits.m_enableMotor[i];
+			limot.m_hiLimit  = m_linearLimits.m_upperLimit[i];
+			limot.m_limitSoftness  = m_linearLimits.m_limitSoftness;
+			limot.m_loLimit  = m_linearLimits.m_lowerLimit[i];
+			limot.m_maxLimitForce  = b3Scalar(0.f);
+			limot.m_maxMotorForce  = m_linearLimits.m_maxMotorForce[i];
+			limot.m_targetVelocity  = m_linearLimits.m_targetVelocity[i];
+			b3Vector3 axis = m_calculatedTransformA.getBasis().getColumn(i);
+			int flags = m_flags >> (i * B3_6DOF_FLAGS_AXIS_SHIFT);
+			limot.m_normalCFM	= (flags & B3_6DOF_FLAGS_CFM_NORM) ? m_linearLimits.m_normalCFM[i] : info->cfm[0];
+			limot.m_stopCFM		= (flags & B3_6DOF_FLAGS_CFM_STOP) ? m_linearLimits.m_stopCFM[i] : info->cfm[0];
+			limot.m_stopERP		= (flags & B3_6DOF_FLAGS_ERP_STOP) ? m_linearLimits.m_stopERP[i] : info->erp;
+			if(m_useOffsetForConstraintFrame)
+			{
+				int indx1 = (i + 1) % 3;
+				int indx2 = (i + 2) % 3;
+				int rotAllowed = 1; // rotations around orthos to current axis
+				if(m_angularLimits[indx1].m_currentLimit && m_angularLimits[indx2].m_currentLimit)
+				{
+					rotAllowed = 0;
+				}
+				row += get_limit_motor_info2(&limot, transA,transB,linVelA,linVelB,angVelA,angVelB, info, row, axis, 0, rotAllowed);
+			}
+			else
+			{
+				row += get_limit_motor_info2(&limot, transA,transB,linVelA,linVelB,angVelA,angVelB, info, row, axis, 0);
+			}
+		}
+	}
+	return row;
+}
+
+
+
+int b3Generic6DofConstraint::setAngularLimits(b3ConstraintInfo2 *info, int row_offset, const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB)
+{
+	b3Generic6DofConstraint * d6constraint = this;
+	int row = row_offset;
+	//solve angular limits
+	for (int i=0;i<3 ;i++ )
+	{
+		if(d6constraint->getRotationalLimitMotor(i)->needApplyTorques())
+		{
+			b3Vector3 axis = d6constraint->getAxis(i);
+			int flags = m_flags >> ((i + 3) * B3_6DOF_FLAGS_AXIS_SHIFT);
+			if(!(flags & B3_6DOF_FLAGS_CFM_NORM))
+			{
+				m_angularLimits[i].m_normalCFM = info->cfm[0];
+			}
+			if(!(flags & B3_6DOF_FLAGS_CFM_STOP))
+			{
+				m_angularLimits[i].m_stopCFM = info->cfm[0];
+			}
+			if(!(flags & B3_6DOF_FLAGS_ERP_STOP))
+			{
+				m_angularLimits[i].m_stopERP = info->erp;
+			}
+			row += get_limit_motor_info2(d6constraint->getRotationalLimitMotor(i),
+												transA,transB,linVelA,linVelB,angVelA,angVelB, info,row,axis,1);
+		}
+	}
+
+	return row;
+}
+
+
+
+
+void	b3Generic6DofConstraint::updateRHS(b3Scalar	timeStep)
+{
+	(void)timeStep;
+
+}
+
+
+void b3Generic6DofConstraint::setFrames(const b3Transform& frameA, const b3Transform& frameB,const b3RigidBodyData* bodies)
+{
+	m_frameInA = frameA;
+	m_frameInB = frameB;
+
+	calculateTransforms(bodies);
+}
+
+
+
+b3Vector3 b3Generic6DofConstraint::getAxis(int axis_index) const
+{
+	return m_calculatedAxis[axis_index];
+}
+
+
+b3Scalar	b3Generic6DofConstraint::getRelativePivotPosition(int axisIndex) const
+{
+	return m_calculatedLinearDiff[axisIndex];
+}
+
+
+b3Scalar b3Generic6DofConstraint::getAngle(int axisIndex) const
+{
+	return m_calculatedAxisAngleDiff[axisIndex];
+}
+
+
+
+void b3Generic6DofConstraint::calcAnchorPos(const b3RigidBodyData* bodies)
+{
+	b3Scalar imA = bodies[m_rbA].m_invMass;
+	b3Scalar imB = bodies[m_rbB].m_invMass;
+	b3Scalar weight;
+	if(imB == b3Scalar(0.0))
+	{
+		weight = b3Scalar(1.0);
+	}
+	else
+	{
+		weight = imA / (imA + imB);
+	}
+	const b3Vector3& pA = m_calculatedTransformA.getOrigin();
+	const b3Vector3& pB = m_calculatedTransformB.getOrigin();
+	m_AnchorPos = pA * weight + pB * (b3Scalar(1.0) - weight);
+	return;
+}
+
+
+
+void b3Generic6DofConstraint::calculateLinearInfo()
+{
+	m_calculatedLinearDiff = m_calculatedTransformB.getOrigin() - m_calculatedTransformA.getOrigin();
+	m_calculatedLinearDiff = m_calculatedTransformA.getBasis().inverse() * m_calculatedLinearDiff;
+	for(int i = 0; i < 3; i++)
+	{
+		m_linearLimits.m_currentLinearDiff[i] = m_calculatedLinearDiff[i];
+		m_linearLimits.testLimitValue(i, m_calculatedLinearDiff[i]);
+	}
+}
+
+
+
+int b3Generic6DofConstraint::get_limit_motor_info2(
+	b3RotationalLimitMotor * limot,
+	const b3Transform& transA,const b3Transform& transB,const b3Vector3& linVelA,const b3Vector3& linVelB,const b3Vector3& angVelA,const b3Vector3& angVelB,
+	b3ConstraintInfo2 *info, int row, b3Vector3& ax1, int rotational,int rotAllowed)
+{
+    int srow = row * info->rowskip;
+    bool powered = limot->m_enableMotor;
+    int limit = limot->m_currentLimit;
+    if (powered || limit)
+    {   // if the joint is powered, or has joint limits, add in the extra row
+        b3Scalar *J1 = rotational ? info->m_J1angularAxis : info->m_J1linearAxis;
+        b3Scalar *J2 = rotational ? info->m_J2angularAxis : info->m_J2linearAxis;
+		if (J1)
+		{
+			J1[srow+0] = ax1[0];
+			J1[srow+1] = ax1[1];
+			J1[srow+2] = ax1[2];
+		}
+		if (J2)
+		{
+			J2[srow+0] = -ax1[0];
+			J2[srow+1] = -ax1[1];
+			J2[srow+2] = -ax1[2];
+		}
+		if((!rotational))
+        {
+			if (m_useOffsetForConstraintFrame)
+			{
+				b3Vector3 tmpA, tmpB, relA, relB;
+				// get vector from bodyB to frameB in WCS
+				relB = m_calculatedTransformB.getOrigin() - transB.getOrigin();
+				// get its projection to constraint axis
+				b3Vector3 projB = ax1 * relB.dot(ax1);
+				// get vector directed from bodyB to constraint axis (and orthogonal to it)
+				b3Vector3 orthoB = relB - projB;
+				// same for bodyA
+				relA = m_calculatedTransformA.getOrigin() - transA.getOrigin();
+				b3Vector3 projA = ax1 * relA.dot(ax1);
+				b3Vector3 orthoA = relA - projA;
+				// get desired offset between frames A and B along constraint axis
+				b3Scalar desiredOffs = limot->m_currentPosition - limot->m_currentLimitError;
+				// desired vector from projection of center of bodyA to projection of center of bodyB to constraint axis
+				b3Vector3 totalDist = projA + ax1 * desiredOffs - projB;
+				// get offset vectors relA and relB
+				relA = orthoA + totalDist * m_factA;
+				relB = orthoB - totalDist * m_factB;
+				tmpA = relA.cross(ax1);
+				tmpB = relB.cross(ax1);
+				if(m_hasStaticBody && (!rotAllowed))
+				{
+					tmpA *= m_factA;
+					tmpB *= m_factB;
+				}
+				int i;
+				for (i=0; i<3; i++) info->m_J1angularAxis[srow+i] = tmpA[i];
+				for (i=0; i<3; i++) info->m_J2angularAxis[srow+i] = -tmpB[i];
+			} else
+			{
+				b3Vector3 ltd;	// Linear Torque Decoupling vector
+				b3Vector3 c = m_calculatedTransformB.getOrigin() - transA.getOrigin();
+				ltd = c.cross(ax1);
+				info->m_J1angularAxis[srow+0] = ltd[0];
+				info->m_J1angularAxis[srow+1] = ltd[1];
+				info->m_J1angularAxis[srow+2] = ltd[2];
+
+				c = m_calculatedTransformB.getOrigin() - transB.getOrigin();
+				ltd = -c.cross(ax1);
+				info->m_J2angularAxis[srow+0] = ltd[0];
+				info->m_J2angularAxis[srow+1] = ltd[1];
+				info->m_J2angularAxis[srow+2] = ltd[2];
+			}
+        }
+        // if we're limited low and high simultaneously, the joint motor is
+        // ineffective
+        if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = false;
+        info->m_constraintError[srow] = b3Scalar(0.f);
+        if (powered)
+        {
+			info->cfm[srow] = limot->m_normalCFM;
+            if(!limit)
+            {
+				b3Scalar tag_vel = rotational ? limot->m_targetVelocity : -limot->m_targetVelocity;
+
+				b3Scalar mot_fact = getMotorFactor(	limot->m_currentPosition, 
+													limot->m_loLimit,
+													limot->m_hiLimit, 
+													tag_vel, 
+													info->fps * limot->m_stopERP);
+				info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity;
+                info->m_lowerLimit[srow] = -limot->m_maxMotorForce;
+                info->m_upperLimit[srow] = limot->m_maxMotorForce;
+            }
+        }
+        if(limit)
+        {
+            b3Scalar k = info->fps * limot->m_stopERP;
+			if(!rotational)
+			{
+				info->m_constraintError[srow] += k * limot->m_currentLimitError;
+			}
+			else
+			{
+				info->m_constraintError[srow] += -k * limot->m_currentLimitError;
+			}
+			info->cfm[srow] = limot->m_stopCFM;
+            if (limot->m_loLimit == limot->m_hiLimit)
+            {   // limited low and high simultaneously
+                info->m_lowerLimit[srow] = -B3_INFINITY;
+                info->m_upperLimit[srow] = B3_INFINITY;
+            }
+            else
+            {
+                if (limit == 1)
+                {
+                    info->m_lowerLimit[srow] = 0;
+                    info->m_upperLimit[srow] = B3_INFINITY;
+                }
+                else
+                {
+                    info->m_lowerLimit[srow] = -B3_INFINITY;
+                    info->m_upperLimit[srow] = 0;
+                }
+                // deal with bounce
+                if (limot->m_bounce > 0)
+                {
+                    // calculate joint velocity
+                    b3Scalar vel;
+                    if (rotational)
+                    {
+                        vel = angVelA.dot(ax1);
+//make sure that if no body -> angVelB == zero vec
+//                        if (body1)
+                            vel -= angVelB.dot(ax1);
+                    }
+                    else
+                    {
+                        vel = linVelA.dot(ax1);
+//make sure that if no body -> angVelB == zero vec
+//                        if (body1)
+                            vel -= linVelB.dot(ax1);
+                    }
+                    // only apply bounce if the velocity is incoming, and if the
+                    // resulting c[] exceeds what we already have.
+                    if (limit == 1)
+                    {
+                        if (vel < 0)
+                        {
+                            b3Scalar newc = -limot->m_bounce* vel;
+                            if (newc > info->m_constraintError[srow]) 
+								info->m_constraintError[srow] = newc;
+                        }
+                    }
+                    else
+                    {
+                        if (vel > 0)
+                        {
+                            b3Scalar newc = -limot->m_bounce * vel;
+                            if (newc < info->m_constraintError[srow]) 
+								info->m_constraintError[srow] = newc;
+                        }
+                    }
+                }
+            }
+        }
+        return 1;
+    }
+    else return 0;
+}
+
+
+
+
+
+
+	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+	///If no axis is provided, it uses the default axis for this constraint.
+void b3Generic6DofConstraint::setParam(int num, b3Scalar value, int axis)
+{
+	if((axis >= 0) && (axis < 3))
+	{
+		switch(num)
+		{
+			case B3_CONSTRAINT_STOP_ERP : 
+				m_linearLimits.m_stopERP[axis] = value;
+				m_flags |= B3_6DOF_FLAGS_ERP_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
+				break;
+			case B3_CONSTRAINT_STOP_CFM : 
+				m_linearLimits.m_stopCFM[axis] = value;
+				m_flags |= B3_6DOF_FLAGS_CFM_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
+				break;
+			case B3_CONSTRAINT_CFM : 
+				m_linearLimits.m_normalCFM[axis] = value;
+				m_flags |= B3_6DOF_FLAGS_CFM_NORM << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
+				break;
+			default : 
+				b3AssertConstrParams(0);
+		}
+	}
+	else if((axis >=3) && (axis < 6))
+	{
+		switch(num)
+		{
+			case B3_CONSTRAINT_STOP_ERP : 
+				m_angularLimits[axis - 3].m_stopERP = value;
+				m_flags |= B3_6DOF_FLAGS_ERP_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
+				break;
+			case B3_CONSTRAINT_STOP_CFM : 
+				m_angularLimits[axis - 3].m_stopCFM = value;
+				m_flags |= B3_6DOF_FLAGS_CFM_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
+				break;
+			case B3_CONSTRAINT_CFM : 
+				m_angularLimits[axis - 3].m_normalCFM = value;
+				m_flags |= B3_6DOF_FLAGS_CFM_NORM << (axis * B3_6DOF_FLAGS_AXIS_SHIFT);
+				break;
+			default : 
+				b3AssertConstrParams(0);
+		}
+	}
+	else
+	{
+		b3AssertConstrParams(0);
+	}
+}
+
+	///return the local value of parameter
+b3Scalar b3Generic6DofConstraint::getParam(int num, int axis) const 
+{
+	b3Scalar retVal = 0;
+	if((axis >= 0) && (axis < 3))
+	{
+		switch(num)
+		{
+			case B3_CONSTRAINT_STOP_ERP : 
+				b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_ERP_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
+				retVal = m_linearLimits.m_stopERP[axis];
+				break;
+			case B3_CONSTRAINT_STOP_CFM : 
+				b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_CFM_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
+				retVal = m_linearLimits.m_stopCFM[axis];
+				break;
+			case B3_CONSTRAINT_CFM : 
+				b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_CFM_NORM << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
+				retVal = m_linearLimits.m_normalCFM[axis];
+				break;
+			default : 
+				b3AssertConstrParams(0);
+		}
+	}
+	else if((axis >=3) && (axis < 6))
+	{
+		switch(num)
+		{
+			case B3_CONSTRAINT_STOP_ERP : 
+				b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_ERP_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
+				retVal = m_angularLimits[axis - 3].m_stopERP;
+				break;
+			case B3_CONSTRAINT_STOP_CFM : 
+				b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_CFM_STOP << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
+				retVal = m_angularLimits[axis - 3].m_stopCFM;
+				break;
+			case B3_CONSTRAINT_CFM : 
+				b3AssertConstrParams(m_flags & (B3_6DOF_FLAGS_CFM_NORM << (axis * B3_6DOF_FLAGS_AXIS_SHIFT)));
+				retVal = m_angularLimits[axis - 3].m_normalCFM;
+				break;
+			default : 
+				b3AssertConstrParams(0);
+		}
+	}
+	else
+	{
+		b3AssertConstrParams(0);
+	}
+	return retVal;
+}
+
+ 
+
+void b3Generic6DofConstraint::setAxis(const b3Vector3& axis1,const b3Vector3& axis2, const b3RigidBodyData* bodies)
+{
+	b3Vector3 zAxis = axis1.normalized();
+	b3Vector3 yAxis = axis2.normalized();
+	b3Vector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
+	
+	b3Transform frameInW;
+	frameInW.setIdentity();
+	frameInW.getBasis().setValue(	xAxis[0], yAxis[0], zAxis[0],	
+	                                xAxis[1], yAxis[1], zAxis[1],
+	                               xAxis[2], yAxis[2], zAxis[2]);
+	
+	// now get constraint frame in local coordinate systems
+	m_frameInA = getCenterOfMassTransform(bodies[m_rbA]).inverse() * frameInW;
+	m_frameInB = getCenterOfMassTransform(bodies[m_rbB]).inverse() * frameInW;
+	
+	calculateTransforms(bodies);
+}