# Class: djointhinge2

The hinge-2 joint is the same as two hinges connected in series, with different hinge axes. An example, shown in the above picture is the steering wheel of a car, where one axis allows the wheel to be steered and the other axis allows the wheel to rotate. The hinge-2 joint has an anchor point and two hinge axes. Axis 1 is specified relative to body 1 (this would be the steering axis if body 1 is the chassis). Axis 2 is specified relative to body 2 (this would be the wheel axis if body 2 is the wheel). Axis 1 can have joint limits and a motor, axis 2 can only have a motor. Axis 1 can function as a suspension axis, i.e. the constraint can be compressible along that axis. The hinge-2 joint where axis1 is perpendicular to axis 2 is equivalent to a universal joint with added suspension.

## Hierarchy

    o-+ ode
      o-+ djoint
        o-+ djointhinge2

## Methods:

### Method overview:

- anchor
- angle1
- anglerate1
- anglerate2
- axis1
- axis2
- new
- suspensioncfm
- suspensionerp

new ([djointgroup group])
  returns: (djointhinge2)
  creates a new hinge2joint
anchor (djointhinge2,[float x,y,z])
  returns: ([float x,y,z])
  Sets/gets hinge-2 anchor.
angle1 (djointhinge2)
  returns: ([float])
anglerate1 (djointhinge2)
  returns: (float)
anglerate2 (djointhinge2)
  returns: (float)
axis1 (djointhinge2,[float x,y,z])
  returns: ([float x,y,z])
  Sets/gets hinge-2 axis1. Axis 1 and axis 2 must not lie along the same line.
axis2 (djointhinge2,[float x,y,z])
  returns: ([float x,y,z])
  Sets/gets hinge-2 axis2. Axis 1 and axis 2 must not lie along the same line.
suspensioncfm (djointhinge2,[float])
  returns: ([float])
  Suspension constraint force mixing (CFM) value
suspensionerp (djointhinge2,[float])
  returns: ([float])
  Suspension error reduction parameter (ERP)

## Inherited Methods:

### From djoint

attach, body1, body2, bounce, bounce2, bounce3, cfm, cfm2, cfm3, delete, feedback, fmax, fmax2, fmax3, fudgefactor, fudgefactor2, fudgefactor3, geom1, geom2, histop, histop2, histop3, lostop, lostop2, lostop3, stopcfm, stopcfm2, stopcfm3, stoperp, stoperp2, stoperp3, velocity, velocity2, velocity3