Connect two object when contact

Is it possible to connect two object when they contact?

For example, if the end of two capsule contact, then this two capsule are connected together.

 

You could define a weld constraint between them and activate it in the collision callback.

 

Thanks florianw, I tried using equality - weld constraint and it works.

 

Thinking of it ... if you do that you might also deactivate the contact between the respective geoms once collision has been detected and the weld contraint activated.