Connect one joint with multiple bodies?

[shchhan]

I'm building a hand skeleton right now and have some issues using the constraints. The wrist joint connects to 5 different bodies (5 fingers). I can use 5 hinge constraints to connect these bodies. The problem is the angles of these constaints are always the same. I can only think of setting up each constraint to have the same angles at each time step. I'm wondering if there is a easier way or better way to to this?

[Erwin Coumans]

The btTypedConstraints for btRigidBody are pair-wise constraints, so you will need to manually keep the angle the same.

There is a btMultiBody with joints between links, but that won't help you either: the joint angles are independent.

[shchhan]

Thanks. I'm now using fixed constraints between bodies to keep their angles the same and I think it's easier to control because this way I can set only one joint angle and the others will be automatically adjusted by the constraint solver.