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create-pivot-joint-with-pivot body-a body-b pivotprocedure
create-pivot-joint-with-anchors body-a body-b anchor-a anchor-bprocedure

a and b are the two bodies to connect, and pivot is the point in world coordinates of the pivot. Because the pivot location is given in world coordinates, you must have the bodies moved into the correct positions already. Alternatively you can specify the joint based on a pair of anchor points, but make sure you have the bodies in the right place as the joint will fix itself as soon as you start simulating the space.