[ODE] how to glue bodies together ?  Roel van Dijk roelvandijk
at home.nl Sat Jan 31 17:49:23 MST 2004  On Friday 30 January
2004 04:18, Nate W wrote: > Does Roel implement the mass-
combining and mass-separating functions, or > is his code
implemented as multiple ODE bodies connected with fixed >
joints? Now, I just modified the code that handles joints.
Nothing fancy. I am not a  physics or math guy ;-)  The whole
breakable joints thing works really simple. First I implemented
it  outside ODE in my wrapper class for joints. I used the
dJointFeedback struct  to get the forces working on the joint.
Above a certain threshold I would  disconnect the joint. Then to
put it inside ODE I simply searched the source files for the
place  where the dJointFeedback struct is filled (step.cpp line:
964). Now the code  that fills the dJointFeedback struct is
executed both if the user called  dJointSetFeedback and if a
joint is breakable. But a few lines lower the  comment says: "no
feedback is required, let's compute cforce