If a joint friction and a joint velocity are both specified, deviations from that velocity will create a restoring torque.
I use this to drive a wheel over a pedestrian, and make the rotating wheel interact with the pedestrian’s contact ellipsoids.
Visual programming debuts in PC-Crash 10.2. Define program blocks that take inputs from other blocks, block-specific parameters, and interact with the simulation through the OLE API to change vehicle behaviour and generate outputs that can be used by other programming blocks. I use this here to build an Adaptive Cruise Control system.