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[Bruno Chareyre <bruno.chareyre@xxxxxxxxxxx>]

> Yes Bruno, this would be lovely (and perhaps simple to do). Can we 
> (you) do that? Do we already have a sort of DOFs for velocities 
> exactly as for generalized displacements?
Apparently, it is already implemented that way. NewtonIntegrator.cpp:182 :

blockTranslateDOFs(state->blockedDOFs, state->accel);
   state->vel+=dt*state->accel;

The first line is not maintaining constant position but null acceleration.
So, the body will move at constant velocity.

Bruno