Wow that is awesome! Those joints in video are obviously rubbery, and what I have (for now) are rigid joints. That is amazing, how that reacts real time!
Yup I understand how to create resultant matrix (which includes offset).
Another somewhat unrelated question:
From what I understand, all of the Newton collision primitives are convex. Have you considered using some kind of a boolean scheme, so that you can assign negative collision volume to a primitive?
For example, defining a cylinder primitive, and then defining another coaxial cylinder with a smaller radius, and assigning it a -ve collision volume would render the first cylinder basically a ring, with the "inside" volume "cut" by the second primitive "cylinder" and rendered a "free space"...
Or, a box, with a smaller box inside it with -ve collision volume, would make it a completely closed "room".
Any thought on this?