simCreateJoint

Creates a joint

C++ synopsis

int simCreateJoint(int jointType, int jointMode, int options, const double* sizes, const double* reservedA, const double* reservedB)

Arguments

• jointType:
  • sim.joint_revolute
  • sim.joint_prismatic
  • sim.joint_spherical
• jointMode: a joint mode
• options: reserved. Set to 0
• sizes: pointer to 2 values indicating the joint length and diameter. Can be nullptr for default values
• reservedA + reservedB: set to nullptr

Return

• -1 if operation was not successful, otherwise the handle of the joint