[ODE] Joints and bodies

[Vadim Macagon]

Hi everybody!

I'm trying to figure out how the joints connect the bodies... you can set
the anchor for the joints, but I can't figure out how it determines the end
points where the joint is connected to the bodies, unless it just uses the
centers of mass for this. The pretty pictures in the ODE docs show the joint
being connected to one side of the boxes, but what about spheres, capsules
and arbitrary geometry?


Any clarification greatly appreciated, and I'll even give you an imaginary
lollipop.

Cheers,

Vadim.