[ODE] creating a joint on the fly when two objects collide?

[Thomas Riga]

Hi all,

I'm trying to simulate a robotic arm that can grab objects using a
magnetic force, e.g. the arm just needs to be positioned so that it
touches the object and the object will stick. I tried to create a hinge
joint on the fly to connect the object to the arm within the collision
callback function but it gives me a LCP internal error, s <= 0. If I
limit Does anybody have any suggestions?

Thanks!

Thomas Riga
http://www.tech.plym.ac.uk/soc/staff/triga