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; }