ODE documentation
ShiVa’s physics engine is built upon the Open Dynamics Engine, or ODE for short. Knowing the ShiVa implementation and script commands for ODE is one thing,
but knowing what the joints actually do, what they look like etc, is another.
Read the latest ODE user guide docs:
ode.org/ode-latest-userguide.html
The chapter on joints should be especially interesting, since things like “hinge” and “hinge2” do not really explain themselves:
ode.org/ode-latest-userguide.html#sec_7_3_0
