@brief Set the Hinge axis as if the 2 bodies were already at angle appart.
@ingroup joints
This function initialize the Axis and the relative orientation of each body
as if body1 was rotated around the axis by the angle value. \br
Ex:
<PRE>
dJointSetHingeAxis(jId, 1, 0, 0);
// If you request the position you will have: dJointGetHingeAngle(jId) == 0
dJointSetHingeAxisDelta(jId, 1, 0, 0, 0.23);
// If you request the position you will have: dJointGetHingeAngle(jId) == 0.23
</PRE>
@param j The Hinge joint ID for which the axis will be set
@param x The X component of the axis in world frame
@param y The Y component of the axis in world frame
@param z The Z component of the axis in world frame
@param angle The angle for the offset of the relative orientation.
As if body1 was rotated by angle when the Axis was set (see below).
The rotation is around the new Hinge axis.
@note Usually the function dJointSetHingeAxis set the current position of body1
and body2 as the zero angle position. This function set the current position
as the if the 2 bodies where \b angle appart.
@warning Calling dJointSetHingeAnchor or dJointSetHingeAxis will reset the "zero"
angle position.
@brief Set the Hinge axis as if the 2 bodies were already at angle appart. @ingroup joints
This function initialize the Axis and the relative orientation of each body as if body1 was rotated around the axis by the angle value. \br Ex: <PRE> dJointSetHingeAxis(jId, 1, 0, 0); // If you request the position you will have: dJointGetHingeAngle(jId) == 0 dJointSetHingeAxisDelta(jId, 1, 0, 0, 0.23); // If you request the position you will have: dJointGetHingeAngle(jId) == 0.23 </PRE>
@param j The Hinge joint ID for which the axis will be set @param x The X component of the axis in world frame @param y The Y component of the axis in world frame @param z The Z component of the axis in world frame @param angle The angle for the offset of the relative orientation. As if body1 was rotated by angle when the Axis was set (see below). The rotation is around the new Hinge axis.
@note Usually the function dJointSetHingeAxis set the current position of body1 and body2 as the zero angle position. This function set the current position as the if the 2 bodies where \b angle appart. @warning Calling dJointSetHingeAnchor or dJointSetHingeAxis will reset the "zero" angle position.