Fixing two box2D bodies together securely

Question

I am trying to join two box2d bodies together that are separated over a fixed distance. Both bodies cannot rotate themselves, and the join should have to rotation either. The ga

Answer 1

I have also tried the b2WeldJoint which did not work as I assume both bodies have to be overlapping...

As far as I know, the shapes of the bodies do not necessarily have to overlap. As far as I have understood your setup, the weld joint would be appropriate, since it forbids all relative translation and rotation.