I found that with the actual physX plugin it is dificult/impossible to attach multiple joints, so i took it differently and return an internal joint id instead of the joint pointer. It is then possible to remove/add/configure multiple joints (a function can be implemented to return the joint pointer if really needed). Actually, I implemented all joints found on the physX SDK (Fixed (PH_FIXED//added), Spherical(PH_BALL), Revolute(PH_HINGE), Prismatic(PH_SLIDE, PH_PRISMA), Distance(PH_ROPE) and D6(PH_6DJOINT)).
I tried to name functions like those of the actual plugin (added 3 after the X), so, except vehicles (I'm still thinking about a simple way to implement it for GS) it is more or less compatible with the actual plugin.
PS : I'll implement joint configurations before working on vehicles.
