> is there a way in ODE to apply torques relative to a point on a body > (the joint center), just as you would apply a force at a particular > point? physics fact: any torque applied to a body will have the same effect on that body's motion regardless of the point at which it is applied, so there's no reason to specify a position in the dBodyAdd[Rel]Torque() functions. russ. -- Russell Smith http://www.q12.org