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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 "SimdVector3.h"

#include "ConstraintSolver/JacobianEntry.h"
#include "TypedConstraint.h"

class RigidBody;

/// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
/// axis defines the orientation of the hinge axis
00029 class HingeConstraint : public TypedConstraint
      JacobianEntry     m_jac[3]; //3 orthogonal linear constraints
      JacobianEntry     m_jacAng[2]; //2 orthogonal angular constraints

      SimdVector3 m_pivotInA;
      SimdVector3 m_pivotInB;
      SimdVector3 m_axisInA;
      SimdVector3 m_axisInB;

      bool  m_angularOnly;

      HingeConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB,SimdVector3& axisInA,SimdVector3& axisInB);

      HingeConstraint(RigidBody& rbA,const SimdVector3& pivotInA,SimdVector3& axisInA);


      virtual void      BuildJacobian();

      virtual     void  SolveConstraint(SimdScalar    timeStep);

      void  UpdateRHS(SimdScalar    timeStep);

      const RigidBody& GetRigidBodyA() const
            return m_rbA;
      const RigidBody& GetRigidBodyB() const
            return m_rbB;

      void  setAngularOnly(bool angularOnly)
            m_angularOnly = angularOnly;



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