FTransform FConstraintInstance::GetRefFrame(EConstraintFrame::Type Frame) const { FTransform Result; if(Frame == EConstraintFrame::Frame1) { Result = FTransform(PriAxis1, SecAxis1, PriAxis1 ^ SecAxis1, Pos1); } else { Result = FTransform(PriAxis2, SecAxis2, PriAxis2 ^ SecAxis2, Pos2); } float Error = FMath::Abs( Result.GetDeterminant() - 1.0f ); if(Error > 0.01f) { UE_LOG(LogPhysics, Warning, TEXT("FConstraintInstance::GetRefFrame : Contained scale.")); } return Result; }