Indeed, you can use the btGeneric6DofConstraint. In fact, by default all degrees of freedom are locked, so no need to configure the limits. Just choose an appropriate local coordinate frame for the attachment.

So, using btGeneric6DofConstraint, would I create a dummy btRigidBody that represents the input device, and then change its m_worldTransform to track the input device's location and orientation?

Thanks,
Braden

float mass = 0.f; //means fixedbtCollisionShape* collisionShape = 0;btRigidBody fixed(mass, btTransform::getIdentity(),collisionShape);

Indeed, you can use the btGeneric6DofConstraint. In fact, by default all degrees of freedom are locked, so no need to configure the limits. Just choose an appropriate local coordinate frame for the attachment.

Hi,

I'm new to Bullet and physics engine in general, so I hope you all can forgive a possibly naive question.

I want to be able to make objects grabable using the ray cast from an input device that has 6 DoF. Namely, if I point the device at the object and "grab" it, it is as if a solid bar is connected between the input device and the object. So, until its release, the object would follow all translations and rotations of the input device, as if one was holding the end of the bar and swinging it around.

Could / should this be done using the btGeneric6DofConstraint ?

Thanks for any help,
Braden

btGeneric6DofConstraint* genericConstraint = new btGeneric6DofConstraint(*bodyRef,*bodyOther,localAttachmentFrameRef,localAttachmentOther);m_demoApp->getDynamicsWorld()->addConstraint( genericConstraint );