Rigid body attached to rod simulation

[chaneekin09]

Hello. I am trying to model a rigid body attached to a rod at its end. I have tried out the inbuilt hinge function but it does not really suit my needs. The rigid body has 3 translational degrees of freedom and 3 rotational degrees of freedom. The rod is able to exert both a tension force and a rotational torque on the body. How can I add these 6 additional variables to be solved for during the simulation as well.