text: /*
   *
   * Confidential Information of Telekinesys Research Limited (t/a Havok). Not for disclosure or distribution without Havok's
   * prior written consent. This software contains code, techniques and know-how which is confidential and proprietary to Havok.
   * Product and Trade Secret source code contains trade secrets of Havok. Havok Software (C) Copyright 1999-2013 Telekinesys Research Limited t/a Havok. All Rights Reserved. Use of this software is subject to the terms of an end user license agreement.
   *
   */
  
  #include <Physics/Constraint/hkpConstraint.h>
  
  class hkpConstraintMotor;
  class hkpConstraintData;
  struct hkpConstraintRuntime;
  
  /// Utility functions to operate on a constraint data.
  namespace hkpConstraintDataUtils
  {
  	/// Converts a constraint data to its powered version. Works only with Ragdoll and Hinge constraints.
  	void HK_CALL convertToPowered ( hkpConstraintData* data, hkpConstraintMotor* motor, hkBool enableMotors );
  
  	/// Creates a copy of the constraint data in its limited version (dynamically allocates).
  	hkpConstraintData* HK_CALL createLimited( const hkpConstraintData* data );
  
  	/// Extracts pivot vectors from the constraint.
  	hkResult HK_CALL getConstraintPivots ( const hkpConstraintData* data, hkVector4& pivotInAOut, hkVector4& pivotInBOut );
  	
  
  	/// Extracts motors from the constraints.
  	hkResult HK_CALL getConstraintMotors( const hkpConstraintData* data, hkpConstraintMotor*& motor0, hkpConstraintMotor*& motor1, hkpConstraintMotor*& motor2 );
  
  	/// Loosen the constraint limits so that its constrained bodies' transforms are no longer violating them.
  	///
  	/// NOTE: This class only operates on the limits of CONSTRAINT_TYPE_RAGDOLL and CONSTRAINT_TYPE_LIMITEDHINGE constraints.
  	///		  Other constraint types are currently not supported. Additionally, this cannot loosen constrained axes which
  	///		  are not controlled by a limit (i.e., the non-principle axes of the limited hinge constraint, positional constraint, etc.).
  	hkResult HK_CALL loosenConstraintLimits( hkpConstraintData* data, const hkTransform& bodyATransform, const hkTransform& bodyBTransform );
  
  	/// Returns largest linear impulse. Needs runtime info.
  	hkVector4 getLargestLinearImpulse( const hkpConstraintData* dataIn, const hkpConstraintRuntime* runtimeIn, const hkQTransform& transformA, const hkQTransform& transformB );
  
  	/// Checks if the constraint supports getting and setting of its pivot points.
  	hkBool HK_CALL constraintSupportsPivotGetSet(const hkpConstraintData* data);
  
  	/// Get the constraint's pivot for body A.
  	const hkVector4& HK_CALL getPivotA(const hkpConstraintData* data);
  
  	/// Get the constraint's pivot for body B.
  	const hkVector4& HK_CALL getPivotB(const hkpConstraintData* data);
  
  	/// Get the constraint's pivot for body i = 0 / 1.
  	hkVector4Parameter HK_CALL getPivot(const hkpConstraintData* data, int pivotIndex);
  
  	/// Set the constraint's pivot for body A.
  	void HK_CALL setPivot(hkpConstraintData* data, const hkVector4& pivot, int pivotIndex);
  
  	/// Set the constraint's pivot for body A.
  	void HK_CALL setPivotTransform(hkpConstraintData* data, const hkTransform& pivot, int pivotIndex);
  
  	/// Get the pivot transform.
  	void HK_CALL getPivotTransform( const hkpConstraintData* data, int index, hkTransform& pivot );
  
  	/// This creates a clone of the three constraints that can have motors,
  	/// namely hkpLimitedHingeConstraintData, hkpPrismaticConstraintData and hkpRagdollConstraintData.
  	/// This does not support the powered chains.
  	/// The function returns HK_NULL for unsupported types of constraints.
  	hkpConstraintData* HK_CALL cloneIfCanHaveMotors(const hkpConstraintData* data);
  
  	/// Returns a deep copy of the constraint data.
  	/// If the constraint wraps another, for example, a breakable or
  	/// malleable constraint, it clones the child constraint also.
  	hkpConstraintData* HK_CALL deepClone(const hkpConstraintData* data);
  }
  
  /*
   * Havok SDK - NO SOURCE PC DOWNLOAD, BUILD(#20130718)
   * 
   * Confidential Information of Havok.  (C) Copyright 1999-2013
   * Telekinesys Research Limited t/a Havok. All Rights Reserved. The Havok
   * Logo, and the Havok buzzsaw logo are trademarks of Havok.  Title, ownership
   * rights, and intellectual property rights in the Havok software remain in
   * Havok and/or its suppliers.
   * 
   * Use of this software for evaluation purposes is subject to and indicates
   * acceptance of the End User licence Agreement for this product. A copy of
   * the license is included with this software and is also available at www.havok.com/tryhavok.
   * 
   */
  