I've not really experimented enough with them to give a good explanation tbh. You do have individual access to both world forces and multiple body forces though.
[edit] Hmm, I was under the impression you need to setup 'contact' joints but looking at the decls file I can't figure out which functions you're supposed to use :S
Do you have the ODE User Guide (pdf file)?
I think Wayne has posted a link to his copy in the JediveODE thread. It's a good read, and has definitely helped me suss a few things like this out.
[edit] Hmm, I was under the impression you need to setup 'contact' joints but looking at the decls file I can't figure out which functions you're supposed to use :S
Do you have the ODE User Guide (pdf file)?
I think Wayne has posted a link to his copy in the JediveODE thread. It's a good read, and has definitely helped me suss a few things like this out.