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physic simulator

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hi, this is not an openGL specific question but maybe there''s some one here who can help me.... i''m currently trying to make a physic simulator of rigid bodies. it''s working ok with collision detection and response.. but now i want to make a joint system for the bodies in the simulation(a body attached to others by a joint). does anyone here know the way or the formulas to make a joint? or any web site that has tutorials on it? thanks

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Guest Anonymous Poster
In general, you have to restrict the values for mutual velocitis angular velocities, accelerations, and so on for joined bodies.
Maybe you''d better give us the certain example, then it would be easier to explain you this stuff... ?

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