How to add a link/joint in runtime

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Hi,

you can create new models similarly to this tutorial, I am not sure if you can add a new links to an existing model, but, you can connect links of different models.

The code should be something like this:

physics::JointPtr joint;

joint = this->world->GetPhysicsEngine()->CreateJoint("revolute", model1);

joint->Load(model1_link, model2_link, math::Pose());

joint->Attach(model1_link, model2_link);

joint->SetAxis(0, axis_ex);

joint->SetHighStop(0, high_stop_ex);
...
joint->SetParam("cfm", 0, cfm_ex);
...

Cheers, Andrei