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

        public override BulletConstraint CreateSliderConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
            Vector3 pframe1, Quaternion pframe1rot,
            Vector3 pframe2, Quaternion pframe2rot,
            bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
        {
            SliderConstraint constrain = null;
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
            RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
            if (rb1 != null && rb2 != 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 SliderConstraint(rb1, rb2, ref frame1, ref frame2, puseLinearReferenceFrameA);
                world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
            }
            return new BulletConstraintXNA(constrain);
        }