Rotational Joint

rotational-joint describes a model of a joint. rotational-joint has body as super-class. This class manages a model of shape, coordinates, rotation axis of a joint, angles of rotation, limits of joint angles, etc. defjoint macro below creates an instance of rotational-joint. This instance is bound to joint-name. Assign a ancestor joint to parent. It is not necessary to assign rotational axes to base nor fingers.

 (defjoint joint-name   

		        :shape 		 body-object 

:color 		 color-id   ;0-15 for MMD 

:parent 		 parent-joint 

:axis 		 rotational-axis 		  ; :x, :y or :z 

:offset 		 trans-from-parent-joint 

:low-limit 		 joint-angle-limit-low 

:high-limit 		 joint-angle-limit-hight 

)