Hi

The engines are fixed on the hull, not rotating (although that's an interesting idea... ).

I have implemented a simple model which has a main "hull" and 4 engines with a fixed joint between the engines and the hull (I call dJointSetFixed after attaching the Body's to the joint). Now when I call dBodyAddRelForce (becuause it needs to be relative to the body's current orientation) the engines all move off together, but the hull lags behind and does not keep up with the engines although the joint is still active as it does response to new inputs. Any ideas on how to ensure that the hull and the engines stay together? I can post a exe to demo the problem if that will help.

I did try using dBodyAddForce as well with the same effect.