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;
}
