GetLimbName( objectId, limbId )
	-- returns a string containing the limb name for the specified limbId or nil if no limb found.


***** Physics functions (Use physlib.lua functions to simplify use of most of these functions!)
***** These descriptions are for those who are familiar with the Bullet Physics Engine
PushObject( objectId, vx, vy, vz, rx, ry, rz )
	-- Applies a force to an object, vx, vy, vz is a vector defining the direction and amplitude
	--                               rx, ry, rz is the relative offset on the object where the force is applied

ConstrainObjMotion( objectId, cx, cy, cz )
	-- Constrains an objects motion, cx, cy, cz are the constraint values on each world axis
	-- the simplest use of this is with values of 0 or 1, i.e a value of 1 is free motion on that axis
	-- a value of 0 doesn't allow any motion on that axis 

ConstrainObjRotation( objectId, rx, ry, rz )
	-- Constrains an objects rotation, rx, ry, rz are the constraint values on each world axis
	-- the simplest use of this is with values of 0 or 1, i.e a value of 1 is free rotation on that axis
	-- a value of 0 doesn't allow any rotation on that axis 

SetObjectDamping( objectId, mv, rv )
	-- Applies a damping amount to an object (drag iow), mv is motion damping amount, rv is rotation damping amount
	-- a value of 0 is no damping, 1 is maximum damping
	
SetBodyScaling( objectId, sx, sy, sz ) 
	-- Scales an objects collision shape, sx, sy, sz are the scaling factors in each axis.
	-- for example values of 0.95 would make the objects collision shape 95% of its visible shape.

PhysicsRayCast( fromX, fromY, fromZ, toX, toY, toZ, force )
	-- Works the same way as the normal ray casting except only applies to dynamic physics objects
	-- Returns 4 values: objectId of ray hit and x, y, z location of the collision point
	-- if the 'force' value is not 0 then the object hit will also get 'pushed' in the direction of the ray


***** Physics constraint creation functions
CreateSingleHinge( objectId, x, y, z, hingeType, minAng, maxAng )
	-- Creates a physics 'hinge' constraint between the object and the world
	-- returns an identifier of the constraint (constId) or -1 if constraint creation fails

CreateSingleJoint( objectId, x, y, z )
	-- Creates a physics 'joint' constraint between the object and the world
	-- returns an identifier of the constraint (constId) or -1 if constraint creation fails

CreateDoubleHinge( objectIdA, objectIdB, xa, ya, za, xb, yb, zb, hingeTypeA, hingeTypeB, noCols )
	-- Creates a physics 'hinge' constraint between two objects
	-- returns an identifier of the constraint (constId) or -1 if constraint creation fails

CreateDoubleJoint( objectIdA, objectIdB, xa, ya, za, xb, yb, zb, noCols )
	-- Creates a physics 'joint' constraint between two objects
	-- returns an identifier of the constraint (constId) or -1 if constraint creation fails

CreateSliderDouble( objectIdA, objectIdB, qXa, qYa, qZa, qWa, xa, ya, za,
                                          qXb, qYb, qZb, qWb, xb, yb, zb, 
										  useLinearReferenceFrameA )
	-- Creates a physics 'slider' constraint between two objects
	-- returns an identifier of the constraint (constId) or -1 if constraint creation fails

RemoveObjectConstraints( objectId )
	-- Removes all physics constraints from an object

RemoveConstraint( constId )
	-- Remove a specified constraint

***** Physics constraint control functions
SetHingeLimits( constId, minAng, maxAng, softness, bias, relaxation )
	-- Changes the values for a specified hinge constraint

GetHingeAngle( constId )
	-- returns the current angle value of a hinge constraint in radians

SetHingeMotor( constId, speed, angle, force )
	-- Set a motor for a specified hinge constraint

SetSliderMotor( constId, OnOff, force, velocity )
	-- Set a motor for a specified slider constraint

GetSliderPosition( constId )
	-- returns the current position value of a slider constraint

SetSliderLimits( constId, lowerLimit, upperLimit, lowerAngle, upperAngle  )
	-- Set the limits on a slider constraint

***** Physics Collision detection functions (use the physlib functions to access these as they are more useful) 
AddObjectCollisionCheck( objectId )

RemoveObjectCollisionCheck( objectId ) 

GetObjectNumCollisions( objectId )
	-- returns the number of colisions with other objects that were detected for an object since the last call
	
GetObjectCollisionDetails( objectId, num )
	-- returns the specified collision details or the first one if num not specified:
	-- objectId - the  object it hit
	-- x, y, z  - world position of the collision 
	-- force    - how hard the two objects collided (this is a very small number usually)

GetTerrainNumCollisions( objectId )
	-- returns the number of colisions with the terrain were detected for an object since the last call

GetTerrainCollisionDetails( objectId, num )
	-- returns the specified collision details or the first one if num not specified:
	-- latest   - flag indicating if this was the most recent collision
	-- x, y, z  - world position of the collision