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+Breakable Joints
+
+================================================================================
+
+Description:
+This is a small addition to ODE that makes joints breakable. Breakable means
+that if a force on a joint is to high it wil break. I have included a modified
+version of test_buggy.cpp (test_breakable.cpp) so you can see it for your self.
+Just drive your buggy into an obstacle and enjoy!
+
+================================================================================
+
+Installation instructions:
+- copy joint.h, joint.cpp, ode.cpp and step.cpp to the ode/src/ directory
+- copy common.h and object.h to the include/ directory
+- copy test_breakable.cpp to the ode/test/ directory
+- add test_breakable.cpp to the ODE_TEST_SRC_CPP object in the makefile.
+- make ode-lib
+- make ode-test
+You can also use the diffs. The above files will quickly go out of sync with the
+rest of ODE but the diffs wil remain valid longer.
+
+================================================================================
+
+Functions:
+dJointSetBreakable (dJointID joint, int b)
+        If b is 1 the joint is made breakable. If b is 0 the joint is made
+        unbreakable.
+
+void dJointSetBreakCallback (dJointID joint, dJointBreakCallback *callbackFunc)
+        Sets the callback function for this joint. If a funtion is set it will be
+        called if the joint is broken but before it is actually detached or deleted.
+
+void dJointSetBreakMode (dJointID joint, int mode)
+        Use this functions to set some flags. These flags can be ORred ( | )
+        together; ie. dJointSetBreakMode (someJoint,
+dJOINT_BREAK_AT_B1_FORCE|dJOINT_DELETE_ON_BREAK)
+        dJOINT_DELETE_ON_BREAK    - If the joint breaks it wil be deleted.
+        dJOINT_BREAK_AT_B1_FORCE  - If the force on body 1 is to high the joint will
+                                                                break
+        dJOINT_BREAK_AT_B1_TORQUE - If the torque on body 1 is to high the joint will
+                                                                break
+        dJOINT_BREAK_AT_B2_FORCE  - If the force on body 2 is to high the joint will
+                                                                break
+        dJOINT_BREAK_AT_B2_TORQUE - If the torque on body 2 is to high the joint will
+                                                                break
+
+void dJointSetBreakForce (dJointID joint, int body, dReal x, dReal y, dReal z)
+        With this function you can set the maximum force for a body connected to this
+        joint. A value of 0 for body means body 1, 1 means body 2. The force is 
+        relative to the bodies rotation.
+
+void dJointSetBreakTorque (dJointID joint, int body, dReal x, dReal y, dReal z)
+        With this function you can set the maximum torque for a body connected to this
+        joint. A value of 0 for body means body 1, 1 means body 2. The torque is 
+        relative to the bodies rotation.
+
+int dJointIsBreakable (dJointID joint)
+        Returns 1 if this joint is breakable, 0 otherwise.
+        
+int dJointGetBreakMode (dJointID joint)
+        Returns the breakmode flag.
+
+void dJointGetBreakForce (dJointID joint, int body, dReal *force)
+        Returns the force at what this joint will break. A value of 0 for body means
+        body 1, 1 means body 2. force must have enough space for 3 dReal values.
+
+void dJointGetBreakTorque (dJointID joint, int body, dReal *torque)
+        Returns the torque at what this joint will break. A value of 0 for body 
+        means body 1, 1 means body 2. force must have enough space for 3 dReal 
+        values.
+
+================================================================================
+
+The callback function is defined like this (in common.h):
+void dJointBreakCallback (dJointID);
+
+================================================================================
+
+Problems, known bugs & other issues:
+- If the timestep is very small then joints get a lot weaker. They can even fall
+  apart!
+- I have tested all this with the latest checkout from CVS (at the time of 
+  writing ofcourse). I haven't tested it with earlier versions of ODE.
+- I have modified the code that fills the jointfeedback struct. I haven't tested
+  if it still works.
+- I'm not sure if the forces are really relative to the connected bodies.
+- There are some memory leaks in the test_breakable.cpp example.
+
+================================================================================
+
+Bugfixes and changes:
+09/08/2003
+- I fixed a bug when there where 0 joints in the simulation
+
+06/12/2003
+- dJointGetBreakMode() added, by vadim_mcagon@hotmail.com
+
+11/03/2004
+- Updated files to work with latest CVS checkout. 
+- Added support for dWorldStepFast1()
+- Added separate test_breakable.cpp example.
+- Updated the code that breaks and destroys a joint.
+
+================================================================================
+
+Send me an e-mail if you have any suggestions, ideas, bugs, bug-fixes, anything!
+e-mail: roelvandijk@home.nl
+
+Roel van Dijk - 11/03/2004