this is what the help files don't clarify in particular:
can someone explain these joint settings?
phy set sphere joint local anchor ID, index, x#, y#, z#
phy set sphere joint local axis ID, index, x#, y#, z#
phy set sphere joint global anchor ID, index, x#, y#, z#
phy set sphere joint global axis ID, index, x#, y#, z#
phy set sphere joint swing axis ID, x#, y#, z#
phy set sphere joint swing limit ID, value#, restitution, hardness#
phy set sphere joint twist limit ID, low#, high#
phy set sphere joint twist spring ID, target#, spring#
phy set sphere joint swint spring ID, target#, spring#
phy set sphere joint spring ID, target#, spring#
phy set sphere joint projection ID, mode, distance#