| 1844 | // implementation (or, less likely, the hinge2 implementation). |
| 1845 | |
| 1846 | static void universalInit (dxJointUniversal *j) |
| 1847 | { |
| 1848 | dSetZero (j->anchor1,4); |
| 1849 | dSetZero (j->anchor2,4); |
| 1850 | dSetZero (j->axis1,4); |
| 1851 | j->axis1[0] = 1; |
| 1852 | dSetZero (j->axis2,4); |
| 1853 | j->axis2[1] = 1; |
| 1854 | dSetZero(j->qrel1,4); |
| 1855 | dSetZero(j->qrel2,4); |
| 1856 | j->limot1.init (j->world); |
| 1857 | j->limot2.init (j->world); |
| 1858 | } |
| 1859 | |
| 1860 | |
| 1861 | static void getUniversalAxes(dxJointUniversal *joint, dVector3 ax1, dVector3 ax2) |