//!@}
public Generic6DofConstraint(RigidBody rbA, RigidBody rbB, btTransform frameInA, btTransform frameInB, bool useLinearReferenceFrameA)
: base(TypedConstraintType.D6_CONSTRAINT_TYPE, rbA, rbB)
{
m_linearLimits = new TranslationalLimitMotor();
m_angularLimits = new RotationalLimitMotor[3];
for (int i = 0; i < m_angularLimits.Length; i++)
m_angularLimits[i] = new RotationalLimitMotor();
m_frameInA = frameInA;
m_frameInB = frameInB;
m_useLinearReferenceFrameA = useLinearReferenceFrameA;
m_useOffsetForConstraintFrame = D6_USE_FRAME_OFFSET;
m_flags = bt6DofFlags.BT_6DOF_FLAGS_NONE;
m_useSolveConstraintObsolete = D6_USE_OBSOLETE_METHOD;
calculateTransforms();
}
public Generic6DofConstraint(RigidBody rbB, btTransform frameInB, bool useLinearReferenceFrameB)
: base(TypedConstraintType.D6_CONSTRAINT_TYPE, getFixedBody(), rbB)
{
m_linearLimits = new TranslationalLimitMotor();
m_angularLimits = new RotationalLimitMotor[3];
for (int i = 0; i < m_angularLimits.Length; i++)
m_angularLimits[i] = new RotationalLimitMotor();
m_frameInB = frameInB;
m_useLinearReferenceFrameA = useLinearReferenceFrameB;
m_useOffsetForConstraintFrame = D6_USE_FRAME_OFFSET;
m_flags = bt6DofFlags.BT_6DOF_FLAGS_NONE;
m_useSolveConstraintObsolete = false;
///not providing rigidbody A means implicitly using worldspace for body A
m_frameInA = rbB.CenterOfMassTransform * m_frameInB;
calculateTransforms();
}