• Joints work best with the world solver model set to iterative, 64 passes.

• Two functions, simulation.find_joint_by_name(name) and simulation.find_joints_by_name(name), may be used to acquire Joint instances by their names in the script context of a body.

• Other functions, like this.connected_joints, this.contained_joints and this.connected_bodies, may be used to acquire all related joints and bodies in the script context of a body.

• Currently, the fixed joint is limited in properties. Use the options within General Properties section, for instance, to adjust the breaking force, which can be applied to any joint.

A hinge joint has three resemblance modes:

1. Angular Friction - a hinge with rotational friction.

   • The Friction argument controls rotational friction.
   • The Controller argument may be used to control the magnitude of the angular frictional.
   • The actual angular friction is, friction • controller.

2. Normal Spring - a hinge with angular spring that rotates connected bodies back to their starting angle.

   • The Accel, Damp, and Strength arguments control acceleration and damping of the angular spring.
   • The Start Angle argument controls the desired starting angle in preset angle units.
   • The Controller argument may be used to control the magnitude and direction of the starting angle.
   • The actual starting angle, in preset angle units, is, start_angle • controller.

3. Hooke's Spring - similar to the normal mode but uses Hooke's parameters for controlling the acceleration and drag of the spring.

• The Controller argument may be used to control the magnitude and direction of the rotation.
• The maximum angular rate, in radians per second, is, accel • controller / damp.

• The Controller argument assumes input as the desired angle in preset angle units.
• The Controller argument also accepts nil as the parameter, which turns off the joint.
• The desired angle is clamped between min and max limits if the limits are enabled.
• The Reduction Ratio may be used to decelerate angular rate when servo nears its desired angle.

• The Controller argument may be used to control the magnitude of the linear friction.
• The actual linear friction is, friction • controller.

• The Controller argument assumes input as the desired linear position in preset units or the magnitude and direction of linear rate, depending on the Controller Mode.
• The Controller argument also accepts nil as the parameter, which turns off the joint.
• The desired position is clamped between min and max limits if the limits are enabled.
• The Reduction Ratio may be used to decelerate linear rate when piston nears its desired position.

• The Controller argument may be used to modify the starting position.
• The actual starting position, in preset units, is, start_position • controller.

• The Controller argument assumes input the desired direction with respect the joint orientation. For example, passing [1,0,0] into the controller will rotate the connected body so that it points the same direction as the joint's x-axis is.

• The corkscrew joint works like a slider and a hinge combined, however without a controller.

• The Controller argument may be used to control the magnitude of the angular friction.
• The actual angular friction is, friction • controller.

• The Controller argument may be used to control the magnitude of the angular friction.
• The actual angular friction is, friction • controller.

• The idea behind a curvy joint is that the connected body travels along the user-drawn curve.
• The curve can be modified by adding a connected set of edges/curves within the joint. The edge closest to the origin of the joint is considered as the starting edge.
• The curve joint works best when the angle between any two connected edges is less than 45 degrees.
• The magnitude of the linear and angular friction can be controlled with the controller.
• The actual linear friction is, linear_friction • controller.
• The actual angular friction is, angular_friction • controller.

• The idea behind the curvy joint is that the connected body travels along a user-drawn curve.
• The curve can be modified by adding a connected set of edges/curves within the joint. The edge closest to the origin of the joint is considered as the starting edge.
• The curve joint works best when the angle between any two connected edges is less than 45 degrees.
• The Controller argument assumes input as the desired linear position in preset units or the magnitude and direction of linear rate, depending on the Controller Mode.
• The Controller argument also accepts nil as the parameter, which turns off the joint.
• The desired position is clamped between min and max limits if the limits are enabled.
• The Reduction Ratio may be used to decelerate linear rate when piston nears its desired position.

• Plane joint limits the motion of the connected bodies to its local X and Y axes and restricts motion along the Z-axis.