Type Alias JointDescriptor

How a joint is created in a solver (§37 createJoint) — the discriminated union of the plan P6-1 tier.

const hinge: JointDescriptor = {
  type: "revolute",
  bodyA, bodyB,
  axis: new Vector3(0, 0, 1),
  limits: { min: -Math.PI / 2, max: Math.PI / 2 },
  motor: { enabled: true, targetVelocity: 2, maxTorque: 50 },
};
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Plain data, like every other descriptor here: no identity, no lifecycle, no solver state. The Joint classes of joints.ts hold the live state a user manipulates and produce these when they are registered with a world — the same split RigidBody/RigidBodyDescriptor already draws.

Which types ship and which are staged is ShippedJointType; a value of this type is still not necessarily legal in a given world, because spherical is "3d" only (jointTypeSupportsDimension).