Dynamically Creating and Destroying Joints
breve allows Joints to be created and destroyed dynamically over the course of the simulation.
Joining MultiBodies dynamically is simple—you simply link them as always using the various Joint subclasses. The joints can be made not only to modify the structure of a single MultiBody, but also to join together distinct MultiBodies.
Prior to breve version 2.0, when all Links had to be part of a MultiBody to appear in the simulated world, breaking joints were often accompanied by broken hearts: breaking a joint could cause entire subtrees of links to disappear into the ether because the links were orphaned. In breve 2.0, links will go on living happily even if they are not associated with a MultiBody.