[ODE] Ode modelling

[Remi Ricard]

Hi Lucius,
>
> What I want is this:
>
> 3.) Be able to control the direction its rolling in. (the rotation 
> around the global up-axis)
> 4.) It must not fall on it side, it have to be standing all the time.
>
> 1 and 2 isn't really a problem but 3 and 4 is.
>
For 3- You can attach a body to an hinge with the anchor in the center 
of the coin and the attached body's position  is below the contact point 
of the coin and the group. (i.e. the position of the attached body w.r.t 
the hinge is greater than the radius of the coin)

Remi