[ODE] Universal Joint / Arm -> rotating about its own axis

[David Nicolier]

> Is LegBasePos the location, in world coordinates, where the center of the
> top face of the leg touches the body?

Yes it is.

> What the universal joint will do is keep the vector, attached to the top
> surface of the leg, that points from the back of the leg to the front,
> perpendicular to the vector, attached to the bottom surface of the body,
> that goes from the body's right to its left.  Is that what you observe?

I observe this 90% of the time, but time to time, the leg rotates around
its own axis (that would be the Z axis when its in the start position) like
if it was a Ball joint...

David