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Learning Game Physics with Bullet Physics and OpenGL by Chris Dickinson

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Understanding constraints

Constraints, in their most basic form, are the rules which limit the range of motion of an object relative to some specific object or point in space. For example, think of a desk chair. It is made up of multiple parts, but if we push the base of the chair, the rest must move with it. The same happens if we push the top section; so even though the chair is made of multiple pieces, they are constrained to one another by a handful of rules.

Constraints can be used to also simulate the independent rotation of the desk chair's top section relative to the base. The top section is able to rotate around an axis without any dependence on what the bottom section is doing. This constraint is simulated by hooking the top section to ...

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