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void btConeTwistConstraint::setMotorTarget(const btQuaternion &q)
 {
         btTransform trACur = m_rbA.getCenterOfMassTransform();
         btTransform trBCur = m_rbB.getCenterOfMassTransform();
         btQuaternion qConstraint = m_rbBFrame.getRotation().inverse() * q * m_rbAFrame.getRotation();
         setMotorTargetInConstraintSpace(qConstraint);
}