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Spherical joint
Description :
Allows you to create a spherical joint between two elements.
We call spherical joint every joint of which the degree of freedom are: the three rotation (O,X), (O,Y) and (O,Z)
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General philosophy:
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Specific point(s):
The two axis can not be parallel;
they define a unique coordinate system (O,X,Y,Z) as follow:
O is the point of the first axis closest to the second axis (the intersection point if they intersect).
Z is the direction vector of the first axis.
Y is the direction vector of the second axis, now perpendicular to Z if it were not the case.
X is the vector like (X,Y,Z) have to be perpendicular, normed and direct.
3 degrees of freedom :
Partial rotation around OX.
Partial rotation around OY.
Partial rotation around OZ.
Example:
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