[ODE] Tutorial on creating joints?

[nlin@nlin.net]

Would it be possible to include in the ODE documentation a short tutorial
on how to create joints? After reading the Siggraph Physically Based
Modeling notes over and over and over again, I am slowly starting to
understand the idea of a scalar constraint function and the Lagrange
multiplier vector lambda. However, it would be very useful to see
exactly how to create joints in ODE. A very simple example, or a walk-through
of the simplest joint in ODE would be quite instructive.

-Norman