public float SolveLinearAxis(
			float timeStep,
			float jacDiagABInv,
			RigidBody body1, ref IndexedVector3 pointInA,
			RigidBody body2, ref IndexedVector3 pointInB,
			int limit_index,
			ref IndexedVector3 axis_normal_on_a,
			ref IndexedVector3 anchorPos)
		{
			///find relative velocity
			//    IndexedVector3 rel_pos1 = pointInA - body1.getCenterOfMassPosition();
			//    IndexedVector3 rel_pos2 = pointInB - body2.getCenterOfMassPosition();
			IndexedVector3 rel_pos1 = anchorPos - body1.GetCenterOfMassPosition();
			IndexedVector3 rel_pos2 = anchorPos - body2.GetCenterOfMassPosition();

			IndexedVector3 vel1 = IndexedVector3.Zero;
			body1.InternalGetVelocityInLocalPointObsolete(ref rel_pos1, ref vel1);
			IndexedVector3 vel2 = IndexedVector3.Zero; ;
			body2.InternalGetVelocityInLocalPointObsolete(ref rel_pos2, ref vel2);
			IndexedVector3 vel = vel1 - vel2;

			float rel_vel = IndexedVector3.Dot(axis_normal_on_a, vel);

			/// apply displacement correction

			//positional error (zeroth order error)
			float depth = -IndexedVector3.Dot((pointInA - pointInB), axis_normal_on_a);
			float lo = float.MinValue;
			float hi = float.MaxValue;

			float minLimit = m_lowerLimit[limit_index];
			float maxLimit = m_upperLimit[limit_index];

			//handle the limits
			if (minLimit < maxLimit)
			{
				{
					if (depth > maxLimit)
					{
						depth -= maxLimit;
						lo = 0f;

					}
					else
					{
						if (depth < minLimit)
						{
							depth -= minLimit;
							hi = 0f;
						}
						else
						{
							return 0.0f;
						}
					}
				}
			}

			float normalImpulse = m_limitSoftness * (m_restitution * depth / timeStep - m_damping * rel_vel) * jacDiagABInv;

			float oldNormalImpulse = m_accumulatedImpulse[limit_index];
			float sum = oldNormalImpulse + normalImpulse;
			m_accumulatedImpulse[limit_index] =  (sum > hi ? 0f : sum < lo ? 0f : sum);
			normalImpulse = m_accumulatedImpulse[limit_index] - oldNormalImpulse;

			IndexedVector3 impulse_vector = axis_normal_on_a * normalImpulse;
			//body1.applyImpulse( impulse_vector, rel_pos1);
			//body2.applyImpulse(-impulse_vector, rel_pos2);

			IndexedVector3 ftorqueAxis1 = IndexedVector3.Cross(rel_pos1, axis_normal_on_a);
			IndexedVector3 ftorqueAxis2 = IndexedVector3.Cross(rel_pos2, axis_normal_on_a);
            body1.InternalApplyImpulse(axis_normal_on_a * body1.GetInvMass(), body1.GetInvInertiaTensorWorld() * ftorqueAxis1, normalImpulse, "Generic6DoF body1");
            body2.InternalApplyImpulse(axis_normal_on_a * body2.GetInvMass(), body2.GetInvInertiaTensorWorld() * ftorqueAxis2, -normalImpulse, "Generic6DoF body2");

			return normalImpulse;

		}
        public void solveConstraintObsolete(RigidBody bodyA, RigidBody bodyB, float timeStep)
{
	if (m_useSolveConstraintObsolete)
	{
		IndexedVector3 pivotAInW = m_rbA.GetCenterOfMassTransform()*m_rbAFrame._origin;
		IndexedVector3 pivotBInW = m_rbB.GetCenterOfMassTransform()*m_rbBFrame._origin;

		float tau = 0.3f;

		//linear part
		if (!m_angularOnly)
		{
			IndexedVector3 rel_pos1 = pivotAInW - m_rbA.GetCenterOfMassPosition(); 
			IndexedVector3 rel_pos2 = pivotBInW - m_rbB.GetCenterOfMassPosition();

            IndexedVector3 vel1 = IndexedVector3.Zero;
			bodyA.InternalGetVelocityInLocalPointObsolete(ref rel_pos1,ref vel1);
            IndexedVector3 vel2 = IndexedVector3.Zero;
			bodyB.InternalGetVelocityInLocalPointObsolete(ref rel_pos2,ref vel2);
			IndexedVector3 vel = vel1 - vel2;

			for (int i=0;i<3;i++)
			{		
				IndexedVector3 normal = m_jac[i].m_linearJointAxis;
				float jacDiagABInv = 1.0f / m_jac[i].GetDiagonal();

				float rel_vel = normal.Dot(ref vel);
				//positional error (zeroth order error)
				float depth = -(pivotAInW - pivotBInW).Dot(ref normal); //this is the error projected on the normal
				float impulse = depth*tau/timeStep  * jacDiagABInv -  rel_vel * jacDiagABInv;
				m_appliedImpulse += impulse;
				
				IndexedVector3 ftorqueAxis1 = rel_pos1.Cross(ref normal);
				IndexedVector3 ftorqueAxis2 = rel_pos2.Cross(ref normal);
				bodyA.InternalApplyImpulse(normal*m_rbA.GetInvMass(), m_rbA.GetInvInertiaTensorWorld()*ftorqueAxis1,impulse,null);
				bodyB.InternalApplyImpulse(normal*m_rbB.GetInvMass(), m_rbB.GetInvInertiaTensorWorld()*ftorqueAxis2,-impulse,null);
		
			}
		}

		// apply motor
		if (m_bMotorEnabled)
		{
			// compute current and predicted transforms
			IndexedMatrix trACur = m_rbA.GetCenterOfMassTransform();
			IndexedMatrix trBCur = m_rbB.GetCenterOfMassTransform();
			IndexedVector3 omegaA = IndexedVector3.Zero; bodyA.InternalGetAngularVelocity(ref omegaA);
            IndexedVector3 omegaB = IndexedVector3.Zero; bodyB.InternalGetAngularVelocity(ref omegaB);
			IndexedMatrix trAPred;
			IndexedVector3 zerovec = new IndexedVector3(0,0,0);
			TransformUtil.IntegrateTransform(ref trACur, ref zerovec, ref omegaA, timeStep, out trAPred);
			IndexedMatrix trBPred;
			TransformUtil.IntegrateTransform(ref trBCur, ref zerovec, ref omegaB, timeStep, out trBPred);

			// compute desired transforms in world
			IndexedMatrix trPose = IndexedMatrix.CreateFromQuaternion(m_qTarget);
			IndexedMatrix trABDes = m_rbBFrame * trPose * m_rbAFrame.Inverse();
			IndexedMatrix trADes = trBPred * trABDes;
			IndexedMatrix trBDes = trAPred * trABDes.Inverse();

			// compute desired omegas in world
			IndexedVector3 omegaADes, omegaBDes;
			
			TransformUtil.CalculateVelocity(ref trACur, ref trADes, timeStep, out zerovec, out omegaADes);
			TransformUtil.CalculateVelocity(ref trBCur, ref trBDes, timeStep, out zerovec, out omegaBDes);

			// compute delta omegas
			IndexedVector3 dOmegaA = omegaADes - omegaA;
			IndexedVector3 dOmegaB = omegaBDes - omegaB;

			// compute weighted avg axis of dOmega (weighting based on inertias)
            IndexedVector3 axisA = IndexedVector3.Zero, axisB = IndexedVector3.Zero;
			float kAxisAInv = 0, kAxisBInv = 0;

			if (dOmegaA.LengthSquared() > MathUtil.SIMD_EPSILON)
			{
				axisA = dOmegaA.Normalized();
				kAxisAInv = GetRigidBodyA().ComputeAngularImpulseDenominator(ref axisA);
			}

			if (dOmegaB.LengthSquared() > MathUtil.SIMD_EPSILON)
			{
				axisB = dOmegaB.Normalized();
				kAxisBInv = GetRigidBodyB().ComputeAngularImpulseDenominator(ref axisB);
			}

			IndexedVector3 avgAxis = kAxisAInv * axisA + kAxisBInv * axisB;

			if (bDoTorque && avgAxis.LengthSquared() > MathUtil.SIMD_EPSILON)
			{
				avgAxis.Normalize();
				kAxisAInv = GetRigidBodyA().ComputeAngularImpulseDenominator(ref avgAxis);
				kAxisBInv = GetRigidBodyB().ComputeAngularImpulseDenominator(ref avgAxis);
				float kInvCombined = kAxisAInv + kAxisBInv;

				IndexedVector3 impulse = (kAxisAInv * dOmegaA - kAxisBInv * dOmegaB) /
									(kInvCombined * kInvCombined);

				if (m_maxMotorImpulse >= 0)
				{
					float fMaxImpulse = m_maxMotorImpulse;
					if (m_bNormalizedMotorStrength)
						fMaxImpulse = fMaxImpulse/kAxisAInv;

					IndexedVector3 newUnclampedAccImpulse = m_accMotorImpulse + impulse;
					float  newUnclampedMag = newUnclampedAccImpulse.Length();
					if (newUnclampedMag > fMaxImpulse)
					{
						newUnclampedAccImpulse.Normalize();
						newUnclampedAccImpulse *= fMaxImpulse;
						impulse = newUnclampedAccImpulse - m_accMotorImpulse;
					}
					m_accMotorImpulse += impulse;
				}

				float  impulseMag  = impulse.Length();
				IndexedVector3 impulseAxis =  impulse / impulseMag;

				bodyA.InternalApplyImpulse(new IndexedVector3(0,0,0), m_rbA.GetInvInertiaTensorWorld()*impulseAxis, impulseMag,null);
				bodyB.InternalApplyImpulse(new IndexedVector3(0,0,0), m_rbB.GetInvInertiaTensorWorld()*impulseAxis, -impulseMag,null);

			}
		}
		else if (m_damping > MathUtil.SIMD_EPSILON) // no motor: do a little damping
		{
			IndexedVector3 angVelA = IndexedVector3.Zero; bodyA.InternalGetAngularVelocity(ref angVelA);
			IndexedVector3 angVelB= IndexedVector3.Zero; bodyB.InternalGetAngularVelocity(ref angVelB);
			IndexedVector3 relVel = angVelB - angVelA;
			if (relVel.LengthSquared() > MathUtil.SIMD_EPSILON)
			{
				IndexedVector3 relVelAxis = relVel.Normalized();
				float m_kDamping =  1.0f /
					(GetRigidBodyA().ComputeAngularImpulseDenominator(ref relVelAxis) +
					 GetRigidBodyB().ComputeAngularImpulseDenominator(ref relVelAxis));
				IndexedVector3 impulse = m_damping * m_kDamping * relVel;

				float  impulseMag  = impulse.Length();
				IndexedVector3 impulseAxis = impulse / impulseMag;
				bodyA.InternalApplyImpulse(new IndexedVector3(0,0,0), m_rbA.GetInvInertiaTensorWorld()*impulseAxis, impulseMag,null);
				bodyB.InternalApplyImpulse(new IndexedVector3(0,0,0), m_rbB.GetInvInertiaTensorWorld()*impulseAxis, -impulseMag,null);
			}
		}

		// joint limits
		{
			///solve angular part
			IndexedVector3 angVelA = IndexedVector3.Zero;
			bodyA.InternalGetAngularVelocity(ref angVelA);
			IndexedVector3 angVelB= IndexedVector3.Zero;
			bodyB.InternalGetAngularVelocity(ref angVelB);

			// solve swing limit
			if (m_solveSwingLimit)
			{
				float amplitude = m_swingLimitRatio * m_swingCorrection*m_biasFactor/timeStep;
				float relSwingVel = (angVelB - angVelA).Dot(ref m_swingAxis);
				if (relSwingVel > 0)
					amplitude += m_swingLimitRatio * relSwingVel * m_relaxationFactor;
				float impulseMag = amplitude * m_kSwing;

				// Clamp the accumulated impulse
				float temp = m_accSwingLimitImpulse;
				m_accSwingLimitImpulse = Math.Max(m_accSwingLimitImpulse + impulseMag, 0.0f);
				impulseMag = m_accSwingLimitImpulse - temp;

				IndexedVector3 impulse = m_swingAxis * impulseMag;

				// don't let cone response affect twist
				// (this can happen since body A's twist doesn't match body B's AND we use an elliptical cone limit)
				{
					IndexedVector3 impulseTwistCouple = impulse.Dot(ref m_twistAxisA) * m_twistAxisA;
					IndexedVector3 impulseNoTwistCouple = impulse - impulseTwistCouple;
					impulse = impulseNoTwistCouple;
				}

				impulseMag = impulse.Length();
				IndexedVector3 noTwistSwingAxis = impulse / impulseMag;

				bodyA.InternalApplyImpulse(new IndexedVector3(0,0,0), m_rbA.GetInvInertiaTensorWorld()*noTwistSwingAxis, impulseMag,null);
				bodyB.InternalApplyImpulse(new IndexedVector3(0,0,0), m_rbB.GetInvInertiaTensorWorld()*noTwistSwingAxis, -impulseMag,null);
			}


			// solve twist limit
			if (m_solveTwistLimit)
			{
				float amplitude = m_twistLimitRatio * m_twistCorrection*m_biasFactor/timeStep;
				float relTwistVel = (angVelB - angVelA).Dot( ref m_twistAxis );
				if (relTwistVel > 0) // only damp when moving towards limit (m_twistAxis flipping is important)
					amplitude += m_twistLimitRatio * relTwistVel * m_relaxationFactor;
				float impulseMag = amplitude * m_kTwist;

				// Clamp the accumulated impulse
				float temp = m_accTwistLimitImpulse;
				m_accTwistLimitImpulse = Math.Max(m_accTwistLimitImpulse + impulseMag, 0.0f );
				impulseMag = m_accTwistLimitImpulse - temp;

				IndexedVector3 impulse = m_twistAxis * impulseMag;

				bodyA.InternalApplyImpulse(new IndexedVector3(0,0,0), m_rbA.GetInvInertiaTensorWorld()*m_twistAxis,impulseMag,null);
				bodyB.InternalApplyImpulse(new IndexedVector3(0,0,0), m_rbB.GetInvInertiaTensorWorld()*m_twistAxis,-impulseMag,null);
			}		
		}
	}

}