I think you're talking about a spherical joint. The idea is to create a constraint that will keep the objects from moving both angular and linearly towards the blue middle point in your picture. (https://github.com/irlanrobson/Bounce/blob/master/Src/Dynamics/Joints/b3SphericalJoint.cpp). Uniquely you would be creating a constraint for both spheres, apply impulses for 1 iteration, and integrate the positions and velocities after.
Irlan RobsonMember Since 08 May 2012
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