A spherical (ball) joint — the child rotates freely about a pivot point (3 DOF). DOF order: [x, y, z] rotations about the local axes through pivot, composed as Rx · Ry · Rz.
[x, y, z]
pivot
Rx · Ry · Rz
A spherical (ball) joint — the child rotates freely about a pivot point (3 DOF). DOF order:
[x, y, z]rotations about the local axes throughpivot, composed asRx · Ry · Rz.