T TWIST LIMIT LOW 1, -10, 0.0, 0.5, 0.5
PHY SET JOINT GLOBAL AXIS 1, 0, 1, 0

//FIXED JOINT DESCRIPTOR
PHY MAKE JOINT DESC 2
PHY SET JOINT MOTION X 2, 0
PHY SET JOINT MOTION Y 2, 0
PHY SET JOINT MOTION Z 2, 0
PHY SET JOINT SWING1 MOTION 2, 0
PHY SET JOINT SWING2 MOTION 2, 0
PHY SET JOINT TWIST MOTION 2, 0
PHY SET JOINT ACTOR A 2, 1, 10
PHY SET JOINT ACTOR B 2, 1, 11
</pre>
         <H5>DarkGDK</H5>
<pre class = "gdk">
//SPHERICAL JOINT DESCRIPTOR
phyMakeJointDesc(1);
phySetJointMotionX(1, 0);
phySetJointMot