Hi… I know ODE has hinges/joints physics. Does SOLID also have these? How would you create them in Blender?

ODE has joint physics?

it has joints at least

nope, doesn’t have them

SOLID only does collision detection, blender handles the response to the collisions

ODE does collision detection and response, though it may not be implemented as such in blender (I don’t know)

to do that kind of thing would be an interesting python escapade with probably a bit too much physics, vector math, and matrix math.