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diff --git a/servers/physics_2d/joints_2d_sw.h b/servers/physics_2d/joints_2d_sw.h
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+/*************************************************************************/
+/*  joints_2d_sw.h                                                       */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                    http://www.godotengine.org                         */
+/*************************************************************************/
+/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                 */
+/*                                                                       */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the       */
+/* "Software"), to deal in the Software without restriction, including   */
+/* without limitation the rights to use, copy, modify, merge, publish,   */
+/* distribute, sublicense, and/or sell copies of the Software, and to    */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions:                                             */
+/*                                                                       */
+/* The above copyright notice and this permission notice shall be        */
+/* included in all copies or substantial portions of the Software.       */
+/*                                                                       */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
+/*************************************************************************/
+#ifndef JOINTS_2D_SW_H
+#define JOINTS_2D_SW_H
+
+#include "constraint_2d_sw.h"
+#include "body_2d_sw.h"
+
+
+
+class Joint2DSW : public Constraint2DSW {
+
+	real_t max_force;
+	real_t bias;
+	real_t max_bias;
+public:
+
+	_FORCE_INLINE_ void set_max_force(real_t p_force) { max_force=p_force; }
+	_FORCE_INLINE_ real_t get_max_force() const { return max_force; }
+
+	_FORCE_INLINE_ void set_bias(real_t p_bias) { bias=p_bias; }
+	_FORCE_INLINE_ real_t get_bias() const { return bias; }
+
+	_FORCE_INLINE_ void set_max_bias(real_t p_bias) { max_bias=p_bias; }
+	_FORCE_INLINE_ real_t get_max_bias() const { return max_bias; }
+
+	virtual Physics2DServer::JointType get_type() const=0;
+	Joint2DSW(Body2DSW **p_body_ptr=NULL,int p_body_count=0) : Constraint2DSW(p_body_ptr,p_body_count) { bias=0; max_force=max_bias=3.40282e+38; };
+
+};
+#if 0
+
+class PinJoint2DSW : public Joint2DSW {
+
+	union {
+		struct {
+			Body2DSW *A;
+			Body2DSW *B;
+		};
+
+		Body2DSW *_arr[2];
+	};
+
+	Vector2 anchor_A;
+	Vector2 anchor_B;
+	real_t dist;
+	real_t jn_acc;
+	real_t jn_max;
+	real_t max_distance;
+	real_t mass_normal;
+	real_t bias;
+
+	Vector2 rA,rB;
+	Vector2 n; //normal
+	bool correct;
+
+
+public:
+
+	virtual Physics2DServer::JointType get_type() const { return Physics2DServer::JOINT_PIN; }
+
+	virtual bool setup(float p_step);
+	virtual void solve(float p_step);
+
+
+	PinJoint2DSW(const Vector2& p_pos,Body2DSW* p_body_a,Body2DSW* p_body_b=NULL);
+	~PinJoint2DSW();
+};
+
+#else
+
+class PinJoint2DSW : public Joint2DSW {
+
+	union {
+		struct {
+			Body2DSW *A;
+			Body2DSW *B;
+		};
+
+		Body2DSW *_arr[2];
+	};
+
+	Matrix32 M;
+	Vector2 rA,rB;
+	Vector2 anchor_A;
+	Vector2 anchor_B;
+	Vector2 bias;
+	Vector2 P;
+	real_t softness;
+
+public:
+
+	virtual Physics2DServer::JointType get_type() const { return Physics2DServer::JOINT_PIN; }
+
+	virtual bool setup(float p_step);
+	virtual void solve(float p_step);
+
+
+	PinJoint2DSW(const Vector2& p_pos,Body2DSW* p_body_a,Body2DSW* p_body_b=NULL);
+	~PinJoint2DSW();
+};
+
+
+#endif
+class GrooveJoint2DSW : public Joint2DSW {
+
+	union {
+		struct {
+			Body2DSW *A;
+			Body2DSW *B;
+		};
+
+		Body2DSW *_arr[2];
+	};
+
+	Vector2 A_groove_1;
+	Vector2 A_groove_2;
+	Vector2 A_groove_normal;
+	Vector2 B_anchor;
+	Vector2 jn_acc;
+	Vector2 gbias;
+	real_t jn_max;
+	real_t clamp;
+	Vector2 xf_normal;
+	Vector2 rA,rB;
+	Vector2 k1,k2;
+
+
+	bool correct;
+
+public:
+
+	virtual Physics2DServer::JointType get_type() const { return Physics2DServer::JOINT_GROOVE; }
+
+	virtual bool setup(float p_step);
+	virtual void solve(float p_step);
+
+
+	GrooveJoint2DSW(const Vector2& p_a_groove1,const Vector2& p_a_groove2, const Vector2& p_b_anchor, Body2DSW* p_body_a,Body2DSW* p_body_b);
+	~GrooveJoint2DSW();
+};
+
+
+class DampedSpringJoint2DSW : public Joint2DSW {
+
+	union {
+		struct {
+			Body2DSW *A;
+			Body2DSW *B;
+		};
+
+		Body2DSW *_arr[2];
+	};
+
+
+	Vector2 anchor_A;
+	Vector2 anchor_B;
+
+	real_t rest_length;
+	real_t damping;
+	real_t stiffness;
+
+	Vector2 rA,rB;
+	Vector2 n;
+	real_t n_mass;
+	real_t target_vrn;
+	real_t v_coef;
+
+public:
+
+	virtual Physics2DServer::JointType get_type() const { return Physics2DServer::JOINT_DAMPED_SPRING; }
+
+	virtual bool setup(float p_step);
+	virtual void solve(float p_step);
+
+	void set_param(Physics2DServer::DampedStringParam p_param, real_t p_value);
+	real_t get_param(Physics2DServer::DampedStringParam p_param) const;
+
+	DampedSpringJoint2DSW(const Vector2& p_anchor_a,const Vector2& p_anchor_b, Body2DSW* p_body_a,Body2DSW* p_body_b);
+	~DampedSpringJoint2DSW();
+};
+
+
+#endif // JOINTS_2D_SW_H