[ODE] Implementing a new joint

[kurimail]

What about setting the rotation of the body to 0,0,0 every step?

> I am using a character capsule to move a character around in a terrain,
> but
> I've run into an issue. I want a joint that restricts the capsule from
> rotation on all three axes, and I have the math worked out for it, but I
> couldn't figure out how to write the code. I looked at the code for the
> Plane2D joint, but I didn't leave very much more enlightened.
>
> Can anybody give me a list of what functions and objects I need to
> implement
> to integrate this joint into ODE? I.e. so that I can make a call to
> "dJointCreateNoRotationJoint" and have it work?
>
> Thanks,
> Andrew
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