added hinge constraint support to Bullet physics

extern/bullet/BulletDynamics/BulletDynamics_vc8.vcproj

@@ -162,6 +162,14 @@
 				RelativePath=".\ConstraintSolver\ContactSolverInfo.h"
 				>
 			</File>
+			<File
+				RelativePath=".\ConstraintSolver\HingeConstraint.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\HingeConstraint.h"
+				>
+			</File>
 			<File
 				RelativePath=".\ConstraintSolver\JacobianEntry.h"
 				>

extern/bullet/BulletDynamics/ConstraintSolver/HingeConstraint.cpp

@@ -17,7 +17,7 @@ subject to the following restrictions:
 #include "HingeConstraint.h"
 #include "Dynamics/RigidBody.h"
 #include "Dynamics/MassProps.h"
-
+#include "SimdTransformUtil.h"
 
 
 HingeConstraint::HingeConstraint()
@@ -27,8 +27,8 @@ HingeConstraint::HingeConstraint()
 HingeConstraint::HingeConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB,
 								 SimdVector3& axisInA,SimdVector3& axisInB)
 :TypedConstraint(rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB),
-m_axisInA(m_axisInA),
-m_axisInB(m_axisInB)
+m_axisInA(axisInA),
+m_axisInB(axisInB)
 {
 
 }
@@ -36,9 +36,9 @@ m_axisInB(m_axisInB)
 
 HingeConstraint::HingeConstraint(RigidBody& rbA,const SimdVector3& pivotInA,SimdVector3& axisInA)
 :TypedConstraint(rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)),
-m_axisInA(m_axisInA),
-//fixed axis in woeldspace
-m_axisInB(rbA.getCenterOfMassTransform() * m_axisInA)
+m_axisInA(axisInA),
+//fixed axis in worldspace
+m_axisInB(rbA.getCenterOfMassTransform().getBasis() * -axisInA)
 {
 	
 }
@@ -66,9 +66,11 @@ void	HingeConstraint::BuildJacobian()
 	//calculate two perpendicular jointAxis, orthogonal to hingeAxis
 	//these two jointAxis require equal angular velocities for both bodies
 
-
-	SimdVector3 jointAxis0(0,0,1);
-	SimdVector3 jointAxis1(0,1,0);
+	//this is ununsed for now, it's a todo
+	SimdVector3 axisWorldA = GetRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA;
+	SimdVector3 jointAxis0;
+	SimdVector3 jointAxis1;
+	SimdPlaneSpace1(axisWorldA,jointAxis0,jointAxis1);
 	
 	new (&m_jacAng[0])	JacobianEntry(jointAxis0,
 		m_rbA.getCenterOfMassTransform().getBasis().transpose(),
@@ -87,17 +89,14 @@ void	HingeConstraint::BuildJacobian()
 
 void	HingeConstraint::SolveConstraint(SimdScalar	timeStep)
 {
+
 	SimdVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_pivotInA;
 	SimdVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_pivotInB;
 
-
 	SimdVector3 normal(0,0,0);
 	SimdScalar tau = 0.3f;
 	SimdScalar damping = 1.f;
 
-//	SimdVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
-//	SimdVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
-
 	for (int i=0;i<3;i++)
 	{		
 		normal[i] = 1;
@@ -105,24 +104,14 @@ void	HingeConstraint::SolveConstraint(SimdScalar	timeStep)
 
 		SimdVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 
 		SimdVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
-		//this jacobian entry could be re-used for all iterations
 		
 		SimdVector3 vel1 = m_rbA.getVelocityInLocalPoint(rel_pos1);
 		SimdVector3 vel2 = m_rbB.getVelocityInLocalPoint(rel_pos2);
 		SimdVector3 vel = vel1 - vel2;
-		
 		SimdScalar rel_vel;
 		rel_vel = normal.dot(vel);
-
-	/*
-		//velocity error (first order error)
-		SimdScalar rel_vel = m_jac[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA,
-														m_rbB.getLinearVelocity(),angvelB);
-	*/
-	
 		//positional error (zeroth order error)
 		SimdScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
-		
 		SimdScalar impulse = depth*tau/timeStep  * jacDiagABInv -  damping * rel_vel * jacDiagABInv * damping;
 
 		SimdVector3 impulse_vector = normal * impulse;
@@ -131,7 +120,44 @@ void	HingeConstraint::SolveConstraint(SimdScalar	timeStep)
 		
 		normal[i] = 0;
 	}
-//todo: do angular part
+
+	///solve angular part
+
+	// get axes in world space
+	SimdVector3 axisA = GetRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA;
+	SimdVector3 axisB = GetRigidBodyB().getCenterOfMassTransform().getBasis() * m_axisInB;
+
+	const SimdVector3& angVelA = GetRigidBodyA().getAngularVelocity();
+	const SimdVector3& angVelB = GetRigidBodyB().getAngularVelocity();
+	SimdVector3 angA = angVelA - axisA * axisA.dot(angVelA);
+	SimdVector3 angB = angVelB - axisB * axisB.dot(angVelB);
+	SimdVector3 velrel = angA-angB;
+
+	//solve angular velocity correction
+	float relaxation = 1.f;
+	float len = velrel.length();
+	if (len > 0.00001f)
+	{
+		SimdVector3 normal = velrel.normalized();
+		float denom = GetRigidBodyA().ComputeAngularImpulseDenominator(normal) +
+			GetRigidBodyB().ComputeAngularImpulseDenominator(normal);
+		// scale for mass and relaxation
+		velrel *= (1.f/denom) * 0.9;
+	}
+
+	//solve angular positional correction
+	SimdVector3 angularError = -axisA.cross(axisB) *(1.f/timeStep);
+	float len2 = angularError.length();
+	if (len2>0.00001f)
+	{
+		SimdVector3 normal2 = angularError.normalized();
+		float denom2 = GetRigidBodyA().ComputeAngularImpulseDenominator(normal2) +
+				GetRigidBodyB().ComputeAngularImpulseDenominator(normal2);
+		angularError *= (1.f/denom2) * relaxation;
+	}
+
+	m_rbA.applyTorqueImpulse(-velrel+angularError);
+	m_rbB.applyTorqueImpulse(velrel-angularError);
 
 }
 

extern/bullet/BulletDynamics/Dynamics/RigidBody.h

@@ -180,6 +180,13 @@ public:
 
 	}
 
+	inline float ComputeAngularImpulseDenominator(const SimdVector3& axis) const
+	{
+		SimdVector3 vec = axis * getInvInertiaTensorWorld();
+		return axis.dot(vec);
+	}
+
+
 
 private:
 	

extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp

@@ -49,6 +49,9 @@ RaycastVehicle::VehicleTuning	gTuning;
 
 #include "ConstraintSolver/ConstraintSolver.h"
 #include "ConstraintSolver/Point2PointConstraint.h"
+#include "ConstraintSolver/HingeConstraint.h"
+
+
 //#include "BroadphaseCollision/QueryDispatcher.h"
 //#include "BroadphaseCollision/QueryBox.h"
 //todo: change this to allow dynamic registration of types!
@@ -393,16 +396,16 @@ void	CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctr
 	//also remove constraint
 	
 	{
-		std::vector<Point2PointConstraint*>::iterator i;
+		std::vector<TypedConstraint*>::iterator i;
 		
-		for (i=m_p2pConstraints.begin();
-		!(i==m_p2pConstraints.end()); i++)
+		for (i=m_constraints.begin();
+		!(i==m_constraints.end()); i++)
 		{
-			Point2PointConstraint* p2p = (*i);
-			if  ((&p2p->GetRigidBodyA() == ctrl->GetRigidBody() ||
-				(&p2p->GetRigidBodyB() == ctrl->GetRigidBody())))
+			TypedConstraint* constraint = (*i);
+			if  ((&constraint->GetRigidBodyA() == ctrl->GetRigidBody() ||
+				(&constraint->GetRigidBodyB() == ctrl->GetRigidBody())))
 			{
-				 removeConstraint(p2p->GetUserConstraintId());
+				 removeConstraint(constraint->GetUserConstraintId());
 				//only 1 constraint per constroller
 				break;
 			}
@@ -410,16 +413,16 @@ void	CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctr
 	}
 	
 	{
-		std::vector<Point2PointConstraint*>::iterator i;
+		std::vector<TypedConstraint*>::iterator i;
 		
-		for (i=m_p2pConstraints.begin();
-		!(i==m_p2pConstraints.end()); i++)
+		for (i=m_constraints.begin();
+		!(i==m_constraints.end()); i++)
 		{
-			Point2PointConstraint* p2p = (*i);
-			if  ((&p2p->GetRigidBodyA() == ctrl->GetRigidBody() ||
-				(&p2p->GetRigidBodyB() == ctrl->GetRigidBody())))
+			TypedConstraint* constraint = (*i);
+			if  ((&constraint->GetRigidBodyA() == ctrl->GetRigidBody() ||
+				(&constraint->GetRigidBodyB() == ctrl->GetRigidBody())))
 			{
-				removeConstraint(p2p->GetUserConstraintId());
+				removeConstraint(constraint->GetUserConstraintId());
 				//only 1 constraint per constroller
 				break;
 			}
@@ -452,6 +455,8 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 
 	if (!SimdFuzzyZero(timeStep))
 	{
+
+#define SPLIT_TIMESTEP 1
 #ifdef SPLIT_TIMESTEP
 		proceedDeltaTimeOneStep(0.5f*timeStep);
 		proceedDeltaTimeOneStep(0.5f*timeStep);
@@ -555,19 +560,17 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 		
 		
 		int i;
-		int numPoint2Point = m_p2pConstraints.size();
+		int numConstraints = m_constraints.size();
 		
 		//point to point constraints
-		for (i=0;i< numPoint2Point ; i++ )
+		for (i=0;i< numConstraints ; i++ )
 		{
-			Point2PointConstraint* p2p = m_p2pConstraints[i];
+			TypedConstraint* constraint = m_constraints[i];
 			
-			p2p->BuildJacobian();
-			p2p->SolveConstraint( timeStep );
+			constraint->BuildJacobian();
+			constraint->SolveConstraint( timeStep );
 			
 		}
-
-
 		
 		
 	}
@@ -1036,7 +1039,11 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 	
 	SimdVector3 pivotInA(pivotX,pivotY,pivotZ);
 	SimdVector3 pivotInB = rb1 ? rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
-	
+	SimdVector3 axisInA(axisX,axisY,axisZ);
+	SimdVector3 axisInB = rb1 ? 
+		(rb1->getCenterOfMassTransform().getBasis().inverse()*(rb0->getCenterOfMassTransform().getBasis() * -axisInA)) : 
+	rb0->getCenterOfMassTransform().getBasis() * -axisInA;
+
 	switch (type)
 	{
 	case PHY_POINT2POINT_CONSTRAINT:
@@ -1054,7 +1061,7 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 					pivotInA);
 			}
 			
-			m_p2pConstraints.push_back(p2p);
+			m_constraints.push_back(p2p);
 			p2p->SetUserConstraintId(gConstraintUid++);
 			p2p->SetUserConstraintType(type);
 			//64 bit systems can't cast pointer to int. could use size_t instead.
@@ -1062,6 +1069,32 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 			
 			break;
 		}
+
+	case PHY_LINEHINGE_CONSTRAINT:
+		{
+			HingeConstraint* hinge = 0;
+			
+			if (rb1)
+			{
+				hinge = new HingeConstraint(
+					*rb0,
+					*rb1,pivotInA,pivotInB,axisInA,axisInB);
+
+
+			} else
+			{
+				hinge = new HingeConstraint(*rb0,
+					pivotInA,axisInA);
+
+			}
+			
+			m_constraints.push_back(hinge);
+			hinge->SetUserConstraintId(gConstraintUid++);
+			hinge->SetUserConstraintType(type);
+			//64 bit systems can't cast pointer to int. could use size_t instead.
+			return hinge->GetUserConstraintId();
+			break;
+		}
 #ifdef NEW_BULLET_VEHICLE_SUPPORT
 
 	case PHY_VEHICLE_CONSTRAINT:
@@ -1093,19 +1126,16 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 
 void		CcdPhysicsEnvironment::removeConstraint(int	constraintId)
 {
-	std::vector<Point2PointConstraint*>::iterator i;
-		
-		//std::find(m_p2pConstraints.begin(), m_p2pConstraints.end(), 
-		//		(Point2PointConstraint *)p2p);
+	std::vector<TypedConstraint*>::iterator i;
 	
-		for (i=m_p2pConstraints.begin();
-		!(i==m_p2pConstraints.end()); i++)
+		for (i=m_constraints.begin();
+		!(i==m_constraints.end()); i++)
 		{
-			Point2PointConstraint* p2p = (*i);
-			if (p2p->GetUserConstraintId() == constraintId)
+			TypedConstraint* constraint = (*i);
+			if (constraint->GetUserConstraintId() == constraintId)
 			{
-				std::swap(*i, m_p2pConstraints.back());
-				m_p2pConstraints.pop_back();
+				std::swap(*i, m_constraints.back());
+				m_constraints.pop_back();
 				break;
 			}
 		}
@@ -1307,16 +1337,16 @@ const PersistentManifold*	CcdPhysicsEnvironment::GetManifold(int index) const
 	return GetDispatcher()->GetManifoldByIndexInternal(index);
 }
 
-Point2PointConstraint*	CcdPhysicsEnvironment::getPoint2PointConstraint(int constraintId)
+TypedConstraint*	CcdPhysicsEnvironment::getConstraintById(int constraintId)
 {
-	int nump2p = m_p2pConstraints.size();
+	int numConstraint = m_constraints.size();
 	int i;
-	for (i=0;i<nump2p;i++)
+	for (i=0;i<numConstraint;i++)
 	{
-		Point2PointConstraint* p2p = m_p2pConstraints[i];
-		if (p2p->GetUserConstraintId()==constraintId)
+		TypedConstraint* constraint = m_constraints[i];
+		if (constraint->GetUserConstraintId()==constraintId)
 		{
-			return p2p;
+			return constraint;
 		}
 	}
 	return 0;

extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h

@@ -8,13 +8,14 @@ class CcdPhysicsController;
 
 
 
-class Point2PointConstraint;
+class TypedConstraint;
+
 class CollisionDispatcher;
 class Dispatcher;
 //#include "BroadphaseInterface.h"
 
 //switch on/off new vehicle support
-//#define NEW_BULLET_VEHICLE_SUPPORT 1
+#define NEW_BULLET_VEHICLE_SUPPORT 1
 
 #include "ConstraintSolver/ContactSolverInfo.h"
 
@@ -96,7 +97,7 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 		}
 #endif //NEW_BULLET_VEHICLE_SUPPORT
 
-		Point2PointConstraint*	getPoint2PointConstraint(int constraintId);
+		TypedConstraint*	getConstraintById(int constraintId);
 
 		virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
 										float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
@@ -139,6 +140,8 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 
 		const PersistentManifold*	GetManifold(int index) const;
 
+		std::vector<TypedConstraint*> m_constraints;
+
 	private:
 		
 		
@@ -146,7 +149,7 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 		
 		std::vector<CcdPhysicsController*> m_controllers;
 
-		std::vector<Point2PointConstraint*> m_p2pConstraints;
+		
 
 		std::vector<WrapperVehicle*>	m_wrapperVehicles;
 

extern/bullet/Extras/PhysicsInterface/Common/PHY_DynamicTypes.h

@@ -1,15 +1,18 @@
 /*
- * Copyright (c) 2001-2005 Erwin Coumans <phy@erwincoumans.com>
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies and
- * that both that copyright notice and this permission notice appear
- * in supporting documentation.  Erwin Coumans makes no
- * representations about the suitability of this software for any
- * purpose.  It is provided "as is" without express or implied warranty.
- *
- */
+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.
+*/
+
 
 #ifndef __PHY_DYNAMIC_TYPES
 #define __PHY_DYNAMIC_TYPES

extern/bullet/continuous_vc8.sln

@@ -56,6 +56,15 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ConvexHullDistance", "Demos
 	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ConcaveDemo", "Demos\ConcaveDemo\ConcaveDemo_vc8.vcproj", "{F20F38CC-CFA7-40C7-81AE-945C8C09E473}"
+	ProjectSection(ProjectDependencies) = postProject
+		{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4} = {3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
+		{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE} = {E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
+		{87D8C006-6DCC-4156-A03E-8CEA1B4C0580} = {87D8C006-6DCC-4156-A03E-8CEA1B4C0580}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ConstraintDemo", "Demos\ConstraintDemo\ConstraintDemo_vc8.vcproj", "{26C8AAF7-D504-4341-A882-7D082E9DED5F}"
 	ProjectSection(ProjectDependencies) = postProject
 		{87D8C006-6DCC-4156-A03E-8CEA1B4C0580} = {87D8C006-6DCC-4156-A03E-8CEA1B4C0580}
 		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
@@ -122,6 +131,10 @@ Global
 		{F20F38CC-CFA7-40C7-81AE-945C8C09E473}.Debug|Win32.Build.0 = Debug|Win32
 		{F20F38CC-CFA7-40C7-81AE-945C8C09E473}.Release|Win32.ActiveCfg = Release|Win32
 		{F20F38CC-CFA7-40C7-81AE-945C8C09E473}.Release|Win32.Build.0 = Release|Win32
+		{26C8AAF7-D504-4341-A882-7D082E9DED5F}.Debug|Win32.ActiveCfg = Debug|Win32
+		{26C8AAF7-D504-4341-A882-7D082E9DED5F}.Debug|Win32.Build.0 = Debug|Win32
+		{26C8AAF7-D504-4341-A882-7D082E9DED5F}.Release|Win32.ActiveCfg = Release|Win32
+		{26C8AAF7-D504-4341-A882-7D082E9DED5F}.Release|Win32.Build.0 = Release|Win32
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp

@@ -49,6 +49,9 @@ RaycastVehicle::VehicleTuning	gTuning;
 
 #include "ConstraintSolver/ConstraintSolver.h"
 #include "ConstraintSolver/Point2PointConstraint.h"
+#include "ConstraintSolver/HingeConstraint.h"
+
+
 //#include "BroadphaseCollision/QueryDispatcher.h"
 //#include "BroadphaseCollision/QueryBox.h"
 //todo: change this to allow dynamic registration of types!
@@ -315,6 +318,7 @@ m_solverType(-1)
 		//broadphase = new SimpleBroadphase();
 	}
 		
+
 	setSolverType(1);
 	
 	m_collisionWorld = new CollisionWorld(dispatcher,broadphase);
@@ -392,16 +396,16 @@ void	CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctr
 	//also remove constraint
 	
 	{
-		std::vector<Point2PointConstraint*>::iterator i;
+		std::vector<TypedConstraint*>::iterator i;
 		
-		for (i=m_p2pConstraints.begin();
-		!(i==m_p2pConstraints.end()); i++)
+		for (i=m_constraints.begin();
+		!(i==m_constraints.end()); i++)
 		{
-			Point2PointConstraint* p2p = (*i);
-			if  ((&p2p->GetRigidBodyA() == ctrl->GetRigidBody() ||
-				(&p2p->GetRigidBodyB() == ctrl->GetRigidBody())))
+			TypedConstraint* constraint = (*i);
+			if  ((&constraint->GetRigidBodyA() == ctrl->GetRigidBody() ||
+				(&constraint->GetRigidBodyB() == ctrl->GetRigidBody())))
 			{
-				 removeConstraint(p2p->GetUserConstraintId());
+				 removeConstraint(constraint->GetUserConstraintId());
 				//only 1 constraint per constroller
 				break;
 			}
@@ -409,16 +413,16 @@ void	CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctr
 	}
 	
 	{
-		std::vector<Point2PointConstraint*>::iterator i;
+		std::vector<TypedConstraint*>::iterator i;
 		
-		for (i=m_p2pConstraints.begin();
-		!(i==m_p2pConstraints.end()); i++)
+		for (i=m_constraints.begin();
+		!(i==m_constraints.end()); i++)
 		{
-			Point2PointConstraint* p2p = (*i);
-			if  ((&p2p->GetRigidBodyA() == ctrl->GetRigidBody() ||
-				(&p2p->GetRigidBodyB() == ctrl->GetRigidBody())))
+			TypedConstraint* constraint = (*i);
+			if  ((&constraint->GetRigidBodyA() == ctrl->GetRigidBody() ||
+				(&constraint->GetRigidBodyB() == ctrl->GetRigidBody())))
 			{
-				removeConstraint(p2p->GetUserConstraintId());
+				removeConstraint(constraint->GetUserConstraintId());
 				//only 1 constraint per constroller
 				break;
 			}
@@ -451,9 +455,14 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 
 	if (!SimdFuzzyZero(timeStep))
 	{
-		//Blender runs 30hertz, so subdivide so we get 60 hertz
+
+#define SPLIT_TIMESTEP 1
+#ifdef SPLIT_TIMESTEP
 		proceedDeltaTimeOneStep(0.5f*timeStep);
 		proceedDeltaTimeOneStep(0.5f*timeStep);
+#else		
+		proceedDeltaTimeOneStep(timeStep);
+#endif
 	} else
 	{
 		//todo: interpolate
@@ -524,7 +533,6 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 	DispatcherInfo dispatchInfo;
 	dispatchInfo.m_timeStep = timeStep;
 	dispatchInfo.m_stepCount = 0;
-	dispatchInfo.m_debugDraw = m_debugDrawer;
 
 	scene->DispatchAllCollisionPairs(*GetDispatcher(),dispatchInfo);///numsubstep,g);
 
@@ -542,7 +550,46 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 	//contacts
 
 	
-	struct InplaceSolverIslandCallback : public CollisionDispatcher::IslandCallback
+	//solve the regular constraints (point 2 point, hinge, etc)
+
+	for (int g=0;g<numsubstep;g++)
+	{
+		//
+		// constraint solving
+		//
+		
+		
+		int i;
+		int numConstraints = m_constraints.size();
+		
+		//point to point constraints
+		for (i=0;i< numConstraints ; i++ )
+		{
+			TypedConstraint* constraint = m_constraints[i];
+			
+			constraint->BuildJacobian();
+			constraint->SolveConstraint( timeStep );
+			
+		}
+		
+		
+	}
+	
+	//solve the vehicles
+
+	#ifdef NEW_BULLET_VEHICLE_SUPPORT
+		//vehicles
+		int numVehicles = m_wrapperVehicles.size();
+		for (int i=0;i<numVehicles;i++)
+		{
+			WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
+			RaycastVehicle* vehicle = wrapperVehicle->GetVehicle();
+			vehicle->UpdateVehicle( timeStep);
+		}
+#endif //NEW_BULLET_VEHICLE_SUPPORT
+
+	
+		struct InplaceSolverIslandCallback : public CollisionDispatcher::IslandCallback
 	{
 
 		ContactSolverInfo& m_solverInfo;
@@ -578,47 +625,10 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 			m_solver,
 			m_debugDrawer);
 
+	/// solve all the contact points and contact friction
 	GetDispatcher()->BuildAndProcessIslands(numRigidBodies,&solverCallback);
 
 
-	for (int g=0;g<numsubstep;g++)
-	{
-		//
-		// constraint solving
-		//
-		
-		
-		int i;
-		int numPoint2Point = m_p2pConstraints.size();
-		
-		//point to point constraints
-		for (i=0;i< numPoint2Point ; i++ )
-		{
-			Point2PointConstraint* p2p = m_p2pConstraints[i];
-			
-			p2p->BuildJacobian();
-			p2p->SolveConstraint( timeStep );
-			
-		}
-
-
-		
-		
-	}
-	
-
-	#ifdef NEW_BULLET_VEHICLE_SUPPORT
-		//vehicles
-		int numVehicles = m_wrapperVehicles.size();
-		for (int i=0;i<numVehicles;i++)
-		{
-			WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
-			RaycastVehicle* vehicle = wrapperVehicle->GetVehicle();
-			vehicle->UpdateVehicle( timeStep);
-		}
-#endif //NEW_BULLET_VEHICLE_SUPPORT
-
-		
 
 
 	{
@@ -883,7 +893,7 @@ void		CcdPhysicsEnvironment::setSolverType(int solverType)
 			{
 				
 				m_solver = new SimpleConstraintSolver();
-				//printf("Iterative Impulse ConstraintSolver\n");
+				
 				break;
 			}
 		}
@@ -893,7 +903,6 @@ void		CcdPhysicsEnvironment::setSolverType(int solverType)
 			if (m_solverType != solverType)
 			{
 				m_solver = new OdeConstraintSolver();
-				//printf("Quickstep ConstraintSolver\n");
 		
 				break;
 			}
@@ -944,13 +953,13 @@ void		CcdPhysicsEnvironment::setGravity(float x,float y,float z)
 
 #ifdef NEW_BULLET_VEHICLE_SUPPORT
 
-class BlenderVehicleRaycaster : public VehicleRaycaster
+class DefaultVehicleRaycaster : public VehicleRaycaster
 {
 	CcdPhysicsEnvironment* m_physEnv;
 	PHY_IPhysicsController*	m_chassis;
 
 public:
-	BlenderVehicleRaycaster(CcdPhysicsEnvironment* physEnv,PHY_IPhysicsController* chassis):
+	DefaultVehicleRaycaster(CcdPhysicsEnvironment* physEnv,PHY_IPhysicsController* chassis):
 	m_physEnv(physEnv),
 		m_chassis(chassis)
 	{
@@ -1030,7 +1039,11 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 	
 	SimdVector3 pivotInA(pivotX,pivotY,pivotZ);
 	SimdVector3 pivotInB = rb1 ? rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
-	
+	SimdVector3 axisInA(axisX,axisY,axisZ);
+	SimdVector3 axisInB = rb1 ? 
+		(rb1->getCenterOfMassTransform().getBasis().inverse()*(rb0->getCenterOfMassTransform().getBasis() * -axisInA)) : 
+	rb0->getCenterOfMassTransform().getBasis() * -axisInA;
+
 	switch (type)
 	{
 	case PHY_POINT2POINT_CONSTRAINT:
@@ -1048,7 +1061,7 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 					pivotInA);
 			}
 			
-			m_p2pConstraints.push_back(p2p);
+			m_constraints.push_back(p2p);
 			p2p->SetUserConstraintId(gConstraintUid++);
 			p2p->SetUserConstraintType(type);
 			//64 bit systems can't cast pointer to int. could use size_t instead.
@@ -1056,13 +1069,39 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 			
 			break;
 		}
+
+	case PHY_LINEHINGE_CONSTRAINT:
+		{
+			HingeConstraint* hinge = 0;
+			
+			if (rb1)
+			{
+				hinge = new HingeConstraint(
+					*rb0,
+					*rb1,pivotInA,pivotInB,axisInA,axisInB);
+
+
+			} else
+			{
+				hinge = new HingeConstraint(*rb0,
+					pivotInA,axisInA);
+
+			}
+			
+			m_constraints.push_back(hinge);
+			hinge->SetUserConstraintId(gConstraintUid++);
+			hinge->SetUserConstraintType(type);
+			//64 bit systems can't cast pointer to int. could use size_t instead.
+			return hinge->GetUserConstraintId();
+			break;
+		}
 #ifdef NEW_BULLET_VEHICLE_SUPPORT
 
 	case PHY_VEHICLE_CONSTRAINT:
 		{
 			RaycastVehicle::VehicleTuning* tuning = new RaycastVehicle::VehicleTuning();
 			RigidBody* chassis = rb0;
-			BlenderVehicleRaycaster* raycaster = new BlenderVehicleRaycaster(this,ctrl0);
+			DefaultVehicleRaycaster* raycaster = new DefaultVehicleRaycaster(this,ctrl0);
 			RaycastVehicle* vehicle = new RaycastVehicle(*tuning,chassis,raycaster);
 			WrapperVehicle* wrapperVehicle = new WrapperVehicle(vehicle,ctrl0);
 			m_wrapperVehicles.push_back(wrapperVehicle);
@@ -1087,19 +1126,16 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 
 void		CcdPhysicsEnvironment::removeConstraint(int	constraintId)
 {
-	std::vector<Point2PointConstraint*>::iterator i;
-		
-		//std::find(m_p2pConstraints.begin(), m_p2pConstraints.end(), 
-		//		(Point2PointConstraint *)p2p);
+	std::vector<TypedConstraint*>::iterator i;
 	
-		for (i=m_p2pConstraints.begin();
-		!(i==m_p2pConstraints.end()); i++)
+		for (i=m_constraints.begin();
+		!(i==m_constraints.end()); i++)
 		{
-			Point2PointConstraint* p2p = (*i);
-			if (p2p->GetUserConstraintId() == constraintId)
+			TypedConstraint* constraint = (*i);
+			if (constraint->GetUserConstraintId() == constraintId)
 			{
-				std::swap(*i, m_p2pConstraints.back());
-				m_p2pConstraints.pop_back();
+				std::swap(*i, m_constraints.back());
+				m_constraints.pop_back();
 				break;
 			}
 		}
@@ -1301,6 +1337,20 @@ const PersistentManifold*	CcdPhysicsEnvironment::GetManifold(int index) const
 	return GetDispatcher()->GetManifoldByIndexInternal(index);
 }
 
+TypedConstraint*	CcdPhysicsEnvironment::getConstraintById(int constraintId)
+{
+	int numConstraint = m_constraints.size();
+	int i;
+	for (i=0;i<numConstraint;i++)
+	{
+		TypedConstraint* constraint = m_constraints[i];
+		if (constraint->GetUserConstraintId()==constraintId)
+		{
+			return constraint;
+		}
+	}
+	return 0;
+}
 
 
 #ifdef NEW_BULLET_VEHICLE_SUPPORT

source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h

@@ -8,7 +8,8 @@ class CcdPhysicsController;
 
 
 
-class Point2PointConstraint;
+class TypedConstraint;
+
 class CollisionDispatcher;
 class Dispatcher;
 //#include "BroadphaseInterface.h"
@@ -90,12 +91,14 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 		//complex constraint for vehicles
 		virtual PHY_IVehicle*	getVehicleConstraint(int constraintId);
 #else
-		virtual PHY_IVehicle*	getVehicleConstraint(int constraintId)
+		virtual class PHY_IVehicle*	getVehicleConstraint(int constraintId)
 		{
 			return 0;
 		}
 #endif //NEW_BULLET_VEHICLE_SUPPORT
 
+		TypedConstraint*	getConstraintById(int constraintId);
+
 		virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
 										float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
 
@@ -137,6 +140,8 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 
 		const PersistentManifold*	GetManifold(int index) const;
 
+		std::vector<TypedConstraint*> m_constraints;
+
 	private:
 		
 		
@@ -144,7 +149,7 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 		
 		std::vector<CcdPhysicsController*> m_controllers;
 
-		std::vector<Point2PointConstraint*> m_p2pConstraints;
+		
 
 		std::vector<WrapperVehicle*>	m_wrapperVehicles;