Dynamically creating a hinge constraint

[Myriade]

Hi!

I need to make a simple game in which arrows shot to a target should
get attached to it when a collision occurs.

Object A is floating in space. When an arrow hits an object A, I need
to create a hinge constraint between the arrow and "A", according to
the position of the arrow relative to "A". How do I figure out the
arguments to provide to the btHingeConstraint constructor ?

The names of the arguments for the btHingeContraint constructor are :

• * btRigidBody &rbA,
  * btRigidBody &rbB,
  * const btVector3 &pivotInA,
  * const btVector3 &pivotInB,
  * btVector3 &axisInA,
  * btVector3 &axisInB
  * bool useReferenceFrameA=false

...actually, I am not even sure this is the correct constraint to
create between objects A and the arrow. I need the arrow to be loosely
attached to object "A". Is it the correct kind of constraint to create
? If so, how do I figure out how to set their position to stay the way
it is when I detect a collision ?

I also need to detect collisions between objects ! How should I do so ?

Thanks a lot !