Hi,
I'm trying to use the btGeneric6DofConstraint to implement hinges and ball-in-sockets with angular limits, linking together a rigid body model of a biped. I have disabled gravity and set the joints in an allowed state, where all angles fall within the limits (properly shown in the constraint debug render) and in theory the system should not move.
However, some joints apply big torques to correct for out-of-limits errors (which should not happen, because the system is supposed to be in a valid state), and after stepping through with the debugger, it seems to be a problem with the matrixToEulerXYZ function.
It appears that even if the matrix representation in both WildMagic and Bullet is the same, when you access the matrix elements using btGetMatrixElem, you are transposing the matrix in place. Is this a bug or am I missing something?