Does anyone have a good example of custom joints? I would like to use the CreateCustomHinge function along with HingeEnableLimits and HingeSetLimits because I use many hinges that have limits. I am very confused about what pinsAndPivoChildFrame is supposed to be. I've looked at the Newton documentation but there isn't much help on the JointLibrary yet.

I'm also wondering what exactly the CustomKinematicController is used for. My game/simulator requires a combination of both kinematic (actual recorded movements from a human) and physics simulation of objects that the user manipulates.