[ODE] three-body joints

[Gary R. Van Sickle]

> > > The differential is a joint between the drive shaft, and the two 
> > > axels that go to the wheels.
> > 
> > Right.  So doesn't a universal joint between each half-axle and the 
> > drive shaft do it?
> 
> The problem is, a universal joint makes the constaint w_Axel 
> = w_Drive (where w is angular velocity on some axis).  A 
> differential makes the constraint w_Axel1 + w_Axel2 = w_Drive 
> / g (for differential ratio g). 
> That's an entirely different puppy :)  I would love to have a 
> joint type that would let me put in whatever linear equations 
> like this.

OHHHHHHHHohohohohoh.  Yep.  In fact, ODE has nothing that I'm aware of that
could be (realistically) used to simulate any sort of gearing ( for gearing
ration != 1:1).  I wonder if this can even be handled with the Jacobian
scheme....

-- 
Gary R. Van Sickle