[ODE] Question about universal joint

[Martin C. Martin]

Peng Zhao wrote:

> Is the latest version stable?

It seems to be.

> I need to give the model an initial pose before controlling it. What will
> happen if this initial pose violates the constraint of ujoint?

What always happens: the solver will move & rotate the bodies involved 
to reduce the violation as much as possible, subject to ERP and CFM. 
This can result in adding a lot of velocity to the bodies in question.

- Martin