- Prismatic
Prismatic joint (1 translational degree-of-freedom, 2 potential states, optional axis flange)
- Revolute
Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)
- RevolutePlanarLoopConstraint
Revolute joint that is described by 2 positional constraints for usage in a planar loop (the ambiguous cut-force perpendicular to the loop and the ambiguous cut-torques are set arbitrarily to zero)
- Cylindrical
Cylindrical joint (2 degrees-of-freedom, 4 potential states)
- Universal
Universal joint (2 degrees-of-freedom, 4 potential states)
- Planar
Planar joint (3 degrees-of-freedom, 6 potential states)
- Spherical
Spherical joint (3 constraints and no potential states, or 3 degrees-of-freedom and 3 states)
- FreeMotion
Free motion joint (6 degrees-of-freedom, 12 potential states)
- FreeMotionScalarInit
Free motion joint with scalar initialization and state selection (6 degrees-of-freedom, 12 potential states)
- SphericalSpherical
Spherical - spherical joint aggregation (1 constraint, no potential states) with an optional point mass in the middle
- UniversalSpherical
Universal - spherical joint aggregation (1 constraint, no potential states)
- GearConstraint
Ideal 3-dim. gearbox (arbitrary shaft directions)
- RollingWheel
Joint (no mass, no inertia) that describes an ideal rolling wheel (rolling on the plane z=0)
- RollingWheelSet
Joint (no mass, no inertia) that describes an ideal rolling wheel set (two ideal rolling wheels connected together by an axis)
- Assemblies
- Constraints
- Internal
