Well, my guess is that it's because I don't really understand how constraints work.
As it stands, it loads the model, and each vertex that has greater than a certain weight on a bone (50% at the moment) is added to a convex hull body. Then, a 6dof constraint is created at the joint in the bones, attaching the new body to its parent bone.
Code:
btGeneric6DofConstraint* p2p = new btGeneric6DofConstraint(
*(pBone->getbtbody()), // this bone's convex hull object
*(pParent->getbtbody()), // the parent bone's convex hull object
corebonetransform.getIdentity(), // the default transform of the bone according to cal3D
parenttransform.inverse()*corebonetransform, // the offset from the parent
true); // don't process collisions between these two bones, otherwise the character will look like its joints are dislocated
p2p->setAngularLowerLimit(btVector3(-SIMD_PI*0.25f,-SIMD_PI*0.25f,-SIMD_PI*0.25f)); // prevent the joints from bending unnaturally far
p2p->setAngularUpperLimit(btVector3(SIMD_PI*0.25f,SIMD_PI*0.25f,SIMD_PI*0.25f));
p2p->setLinearLowerLimit(btVector3(0,0,0)); // prevent the joints from sliding out of place
p2p->setLinearUpperLimit(btVector3(0,0,0));
m_vectorjoints.push_back(p2p); // add the joint to the skeleton object, mostly for deletion purposes
btWorld->addConstraint(p2p, true); // add the joint to the bullet physics pipeline
So... what exactly does bullet do to enforce these constraints? Does it just move them iteratively? Apply forces? Do I need to set more parameters?
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