Rigid Body Constraint Hinge in Blender

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Constraints (also known as joints) for rigid bodies connect two rigid bodies.
The physics constraints are meant to be attached to an Empty object. The constraint then has fields which can be pointed at the two physics-enabled object which will be bound by the constraint. 

The hinge permits one degree of freedom between two objects. Translation is completely constrained. #CgTopTips
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Very grateful that you didn't make us watch you create all the objects (lots of tutorials do that!)

DaveHuxtableLanguages
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