Need some examples with Ode joints

Hello. Please could you show some examples of using the Odefixedjoint,odehingejoint.
I’m trying to create a tank and make the tank tower rotate regardless of the body of the tank.(the tank tower and the tank body are two models).

ODE has long been considered the last century, I do not know who else uses it. Everything in the documentation is everything. Look at the code examples - code-snippets You need to pick the theme created around 10 years ago.