[ODE] Simple questions

[Frederic Ferland]

I've just started using ODE today and I have a few basic questions.

1 - What's a torque and what is it used for?

2 - If I call dBodySetLinearVel( ... ), my object moves in the specified 
direction (while falling since it's in the air).  However, if I call 
dBodySetAngularVel( ... ) instead, it doesn't do anything (my object simply 
falls in a strait line).  What is the second function supposed to do and in 
which situation should it be used?

Thanks!

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Frederic Ferland <fref@bigfoot.com>