I'm using C3 r89.
I saw that revolute joint can have some rotation limits using "Create limited revolute joint", which is cool.
What about distant joints? Here my example, let's say it's an arm. I wish I can constraint the rotation somehow, so the elbow won't go the wrong way, breaking the arm.
Test it there. Drag drop the blue hand.
At first, I thought I could calculate some angle, then managing some positionning for the hand, but I was unable to come to a conclusion. Or maybe that's not the way...