PhysX PxRevoluteJoint - how to specify axis of rotation

I can not deal with PhysX PxRevoluteJoint, how to set the axis about which the object will rotate.

A - that how now turns
B - that how i want it to turns

My code:

PxMaterial       *mat = gPhysicsSDK->createMaterial(0.5f,0.5f,0.5f);

PxTransform      boxPos1(PxVec3(0.0f, 30.0f, 0.0f));
PxBoxGeometry    boxGeometry1(PxVec3(10,2,2));
PxRigidDynamic   *box1 = PxCreateDynamic(*gPhysicsSDK, boxPos1, boxGeometry1, *mat, 1.0f);

PxTransform      boxPos2(PxVec3(30.0f, 30.0f, 0.0f));
PxBoxGeometry    boxGeometry2(PxVec3(10,2,2));
PxRigidDynamic   *box2 = PxCreateDynamic(*gPhysicsSDK, boxPos2, boxGeometry2, *mat, 1.0f);

PxVec3           offset1(10,0,0);
PxVec3           offset2(-offset1);
PxTransform      transform1(offset1);
PxTransform      transform2(offset2);
PxRevoluteJoint* revoluteJoint = PxRevoluteJointCreate(*gPhysicsSDK, box2, transform1, box1, transform2);