Universe.Physics.BulletSPlugin.BSAPIXNA.Create6DofSpringConstraint C# (CSharp) Method

        public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1,
            BulletBody pBody2,
            Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot,
            bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
        {
            Generic6DofSpringConstraint constrain = null;
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
            RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody;
            if (body1 != null && body2 != null)
            {
                IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
                IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z,
                    pframe1rot.W);
                IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
                frame1._origin = frame1v;

                // 20131224 not used            IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
                IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z,
                    pframe2rot.W);
                IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
                frame2._origin = frame1v;

                constrain = new Generic6DofSpringConstraint(body1, body2, ref frame1, ref frame2,
                    puseLinearReferenceFrameA);
                world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);

                constrain.CalculateTransforms();
            }

            return new BulletConstraintXNA(constrain);
        }