what is the "original rotation"?

ConfigurableJoints can be restricted in their angular motion. This is done in relation to their “original rotation”. … now, what does this mean? The rotation it had, when I was setting the limits? Can I find this “original rotation” somewhere? Or do I have to save it myself? And, if I want to change it after rotating… e.g. I moved to -20 degrees… how can I change a limit from 30 to 40 degrees? … wouldn’t it be -60 and 20 instead of -40 and 40 when I change it when the joint is in the -20 position?

answer: it’s the “rotation” of your joint when you set the secondaryAxis … (maybe also when you set the axis, I didn’t check that) … so, if you want to keep your 0 constant, you first have to rotate the rotation back into the position you want your 0 to be, then set the axis and then rotate back (in case you want to change your axis at runtime… but, normally you don’t want this… at least I didn’t want it, but I did it, because it was “the easier way”…).