Hi, I'm trying to create a constraint which limits rotation to be about the Z axis, any rotation going on around any other axis should be nuked. The documentation for this is all but extensive though, save for 2 occurences in the demos, where no restriction is made and just identity used, and a 1 line comment in the documentation, one is pretty much on his own. Perhaps it's my math which is failing me.

Anyway, I'm using the constraint construction kit and use the root fixed havok rigid body as the second body. I know that I should use some combination of setAngularBasisA and setAngularBasisB, but these accepts 3x3 matrices. I thought a matrix consisting of only 0s and a 1 on the element furthest to the bottom right would do the trick, but without luck. Would really appreciate some help on this one :)