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This article is part
of the ODE Manual
Chapters ...

Install and Use
Data Types and Conventions
Rigid Body Functions
Joint Types and Functions
Support Functions
Collision Detection

The ODE Manual is available in 2 forms:

If you are interested in PDFs, look into the the group's files section: .

The old (from ODE 0.5) manual can be found at . A Russian version of it is at .

Here is a short implementors guide for [creating new joints in ODE] (PDF format).

Related Books

RobotCover120x170.jpg [Robot Simulation - Robot Programming with Open Dynamics Engine (Japanese).]

Gamegems4.jpg In the book "Game Gems 4", the chapter "3.4: Constraints in Rigid Body Dynamics" is a tutorial on creating new joints for ODE.