Creating Misc Joints - simphysoftwares/SimPHY-docs GitHub Wiki

Prismatic Joint: It provides a linear sliding movement between two bodies, and is often called a slider, as in the slider-crank linkage.

Rope Joint: It is an inextensible and unbreakable joint between any two bodies. Just select the icon in the Joint toolbar and click and drag the mouse to create a rope joint. Rope Joint gets slacked when its in compression.

Weld Joint: It is a kind of permanent joint that does not allow any motion and fixes the body to the background world or to another body.

Wheel Joint: This Joint when used on a body provides a constraint on it to rotate around another body, just like a wheel.

Here is a video demonstrating how to add the above joints including the subtle difference between wheel joint and hinge joint.