Attaching objects together

Hi i was wondering if it is possible to have two physics objects attached to each other but be able to rotate still ie having a ground and a roundabout. I am trying to make a train with two wheel bases which move with the train body but can rotate on the Y axis. I can think of a way such as forcing the objects to move with it but that seems a bad idea.

Cheers guys.

hinge? universal joint?

OgreNewt::BasicJoint::Hinge(OgreNewt::World*, OgreNewt::Body* child, OgreNewt::Body* parent, Ogre::Vector3 pos, Ogre::Vector3 pin_direction)


Thank you. i will have a look into these.

cheers for your help