Position of btTypedConstraint(or finding it by other means)?

[pierreofthefrench]

Hello! I'm relatively new to Bullet (Been playing around with it on and off for several weeks) and I've finally loosely integrated it into the engine I am developing. I started on ragdolls but have come across a problem.

I got everything up and running and the part I am having trouble with is masking my skeleton to that of the Ragdoll demos ragdoll. I realize I can get the position/orientation of btCollisionShape which is great but since character rigs are made joints it would be amazing if I could just get the positions/orientations of a btTypedConstraint. I looked through all the member functions but haven't been able to find this. It would be simple for me to go through and attach the corresponding character rig joints to Bullets joints if I just had access to where they are.

Is this possible? I've been trying hours to get it right with the CollisionShapes but it doesn't seem like there is an elegant way to achieve this because from what I can tell you can only get the center of the capsule which would make it take several hours just to get the rig set up if I tried to do it by hand. Any help would be greatly appreciated! Thanks.