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

[Martin C. Martin]

Well, ODE doesn't guarantee that joints are always perfectly enforced. 
Just as a ball and socket can come apart for a little while, or two bodies
can interpenetrate for a little while, so the two axes of the universal
joint can become non-perpendicular for a little while.  This will be
especially true if, e.g. the rag doll is lying on top of its arm.  Does
changing the ERP affect the behaviour you're noticing?

- Martin

David Nicolier wrote:
> 
> > 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