Spherical joint motors #934
Description
#913 added motors for revolute joints and prismatic joints, but spherical joints are still missing a motor.
In that PR, I left this comment about spherical joint motors:
I think the interface would ideally let you set a target relative orientation and angular velocity. In PhysX, the D6 (aka 6DOF) joint supports this with two different angular drive models, twist & swing, and SLERP (link). In other engines like Jolt and Bepu, it's a bit less clear how they determine the rotation "path" for angular motors/servos, but they still also allow setting a target orientation as a quaternion. I haven't yet looked into how exactly it should be implemented though