btAnimatGeneric6DofConstraint.h

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#pragma once

namespace BulletAnimatSim
{
        namespace Environment
        {

                namespace Joints
                {

            class BULLET_PORT btAnimatGeneric6DofConstraint : public btGeneric6DofSpringConstraint
            {
            public:
                btAnimatGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
                btAnimatGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);

                virtual btVector3 GetLinearForceAxis(int iAxis);
                virtual btVector3 GetAngularForceAxis(int iAxis);
                virtual void ApplyMotorForces(btScalar  timeStep);
            };

                }               //Joints
        }                       // Environment
}                               //BulletAnimatSim