Custom constraints

[atomic_cheese]

Does Bullet support the implementation of custom constraints? I want to make a special constraint that constrains two objects together, like a fixate, but also allows a custom transform between them. Is there built-in support for this, or can I write my own?

[Erwin Coumans]

Yes, you can implement custom constraints in Bullet.

In your case it might be better to setup the programmable btGeneric6DofConstraint. See Bullet/Demos/ConstraintDemo for examples.
Thanks,
Erwin

[atomic_cheese]

How do the frameInA and frameInB parameters work? I think that I'm supplying incorrect values and that's making the constraint more like a fixate than what I want.