コード例 #1
0
bool SimulationModel::addUniversalJoint(const unsigned int rbIndex1, const unsigned int rbIndex2, const Eigen::Vector3f &pos, const Eigen::Vector3f &axis1, const Eigen::Vector3f &axis2)
{
	UniversalJoint *uj = new UniversalJoint();
	const bool res = uj->initConstraint(*this, rbIndex1, rbIndex2, pos, axis1, axis2);
	if (res)
	{
		m_constraints.push_back(uj);
		m_groupsInitialized = false;
	}
	return res;
}