1 files changed, 41 insertions, 1 deletions

diff --git a/src/dynamics/joint/spherical_joint.rs b/src/dynamics/joint/spherical_joint.rs
index 3ff029e..89ab7b1 100644
--- a/src/dynamics/joint/spherical_joint.rs
+++ b/src/dynamics/joint/spherical_joint.rs
@@ -1,10 +1,13 @@
 use crate::dynamics::joint::{GenericJoint, GenericJointBuilder, JointAxesMask};
-use crate::dynamics::{JointAxis, MotorModel};
+use crate::dynamics::{JointAxis, JointMotor, MotorModel};
 use crate::math::{Point, Real};
 
+use super::JointLimits;
+
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Copy, Clone, Debug, PartialEq)]
 #[repr(transparent)]
+/// A spherical joint, locks all relative translations between two bodies.
 pub struct SphericalJoint {
     data: GenericJoint,
 }
@@ -16,25 +19,47 @@ impl Default for SphericalJoint {
 }
 
 impl SphericalJoint {
+    /// Creates a new spherical joint locking all relative translations between two bodies.
     pub fn new() -> Self {
         let data = GenericJointBuilder::new(JointAxesMask::LOCKED_SPHERICAL_AXES).build();
         Self { data }
     }
 
+    /// The underlying generic joint.
     pub fn data(&self) -> &GenericJoint {
         &self.data
     }
 
+    /// The joint’s anchor, expressed in the local-space of the first rigid-body.
+    #[must_use]
+    pub fn local_anchor1(&self) -> Point<Real> {
+        self.data.local_anchor1()
+    }
+
+    /// Sets the joint’s anchor, expressed in the local-space of the first rigid-body.
     pub fn set_local_anchor1(&mut self, anchor1: Point<Real>) -> &mut Self {
         self.data.set_local_anchor1(anchor1);
         self
     }
 
+    /// The joint’s anchor, expressed in the local-space of the second rigid-body.
+    #[must_use]
+    pub fn local_anchor2(&self) -> Point<Real> {
+        self.data.local_anchor2()
+    }
+
+    /// Sets the joint’s anchor, expressed in the local-space of the second rigid-body.
     pub fn set_local_anchor2(&mut self, anchor2: Point<Real>) -> &mut Self {
         self.data.set_local_anchor2(anchor2);
         self
     }
 
+    /// The motor affecting the joint’s rotational degree of freedom along the specified axis.
+    #[must_use]
+    pub fn motor(&self, axis: JointAxis) -> Option<&JointMotor> {
+        self.data.motor(axis)
+    }
+
     /// Set the spring-like model used by the motor to reach the desired target velocity and position.
     pub fn set_motor_model(&mut self, axis: JointAxis, model: MotorModel) -> &mut Self {
         self.data.set_motor_model(axis, model);
@@ -79,11 +104,19 @@ impl SphericalJoint {
         self
     }
 
+    /// Sets the maximum force the motor can deliver along the specified axis.
     pub fn set_motor_max_force(&mut self, axis: JointAxis, max_force: Real) -> &mut Self {
         self.data.set_motor_max_force(axis, max_force);
         self
     }
 
+    /// The limit distance attached bodies can translate along the specified axis.
+    #[must_use]
+    pub fn limits(&self, axis: JointAxis) -> Option<&JointLimits<Real>> {
+        self.data.limits(axis)
+    }
+
+    /// Sets the `[min,max]` limit angles attached bodies can translate along the joint’s principal axis.
     pub fn set_limits(&mut self, axis: JointAxis, limits: [Real; 2]) -> &mut Self {
         self.data.set_limits(axis, limits);
         self
@@ -96,6 +129,7 @@ impl Into<GenericJoint> for SphericalJoint {
     }
 }
 
+/// Create spherical joints using the builder pattern.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Copy, Clone, Debug, PartialEq)]
 pub struct SphericalJointBuilder(SphericalJoint);
@@ -107,16 +141,19 @@ impl Default for SphericalJointBuilder {
 }
 
 impl SphericalJointBuilder {
+    /// Creates a new builder for spherical joints.
     pub fn new() -> Self {
         Self(SphericalJoint::new())
     }
 
+    /// Sets the joint’s anchor, expressed in the local-space of the first rigid-body.
     #[must_use]
     pub fn local_anchor1(mut self, anchor1: Point<Real>) -> Self {
         self.0.set_local_anchor1(anchor1);
         self
     }
 
+    /// Sets the joint’s anchor, expressed in the local-space of the second rigid-body.
     #[must_use]
     pub fn local_anchor2(mut self, anchor2: Point<Real>) -> Self {
         self.0.set_local_anchor2(anchor2);
@@ -166,18 +203,21 @@ impl SphericalJointBuilder {
         self
     }
 
+    /// Sets the maximum force the motor can deliver along the specified axis.
     #[must_use]
     pub fn motor_max_force(mut self, axis: JointAxis, max_force: Real) -> Self {
         self.0.set_motor_max_force(axis, max_force);
         self
     }
 
+    /// Sets the `[min,max]` limit distances attached bodies can rotate along the specified axis.
     #[must_use]
     pub fn limits(mut self, axis: JointAxis, limits: [Real; 2]) -> Self {
         self.0.set_limits(axis, limits);
         self
     }
 
+    /// Builds the spherical joint.
     #[must_use]
     pub fn build(self) -> SphericalJoint {
         self.0