Spherical Joint constraints and action mapping

[walkerism]

Hi there,

I notice that you don't apply any bullet constraints (btMultiBodySphericalJointLimit) to Spherical joints so I was wondering how you deal with these? I can see in the .txt file for the humaoid the joint limitations are provided, but I am struggling to trace where these are then applied to the character?

I was also wondering whether you map the actions to be within the constraints of each joint? If so where in the codebse do you achieve this?

Thank you!
Luke Murray