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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 "../../LinearMath/btVector3.h"
#include "btJacobianEntry.h"
#include "btTypedConstraint.h"

class btRigidBody;

/// 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
00028 class btHingeConstraint : public btTypedConstraint
      btJacobianEntry   m_jac[3]; //3 orthogonal linear constraints
      btJacobianEntry   m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor

      btVector3   m_pivotInA;
      btVector3   m_pivotInB;
      btVector3   m_axisInA;
      btVector3   m_axisInB;

      bool        m_angularOnly;

      btScalar          m_motorTargetVelocity;
      btScalar          m_maxMotorImpulse;
      bool        m_enableAngularMotor;

      btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB,btVector3& axisInA,btVector3& axisInB);

      btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA);


      virtual void      buildJacobian();

      virtual     void  solveConstraint(btScalar      timeStep);

      void  updateRHS(btScalar      timeStep);

      const btRigidBody& getRigidBodyA() const
            return m_rbA;
      const btRigidBody& getRigidBodyB() const
            return m_rbB;

      void  setAngularOnly(bool angularOnly)
            m_angularOnly = angularOnly;

      void  enableAngularMotor(bool enableMotor,btScalar targetVelocity,btScalar maxMotorImpulse)
            m_enableAngularMotor  = enableMotor;
            m_motorTargetVelocity = targetVelocity;
            m_maxMotorImpulse = maxMotorImpulse;



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