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The _index parameter in any method from Joint class is for specifying the coordinate ID which is an unsigned int value less than GetAngleCount(). Thus, in the case of an Hinge, GetAngleCount() returns 1 and the only possible index value is 0.

In Hinge2, , GetAngleCount() returns 2 and the only possible index value are 0 and 1.

SetAxis has only one value per angle and it applies to both parts attached. If a different engines needs to specify different values, than an sdf tag like those for <ode>, <bullet>, etc. should be use to specify that particular property of the specific engine.