[ODE] problem with stops

[ray@his.atr.co.jp]

ODE:

I have implemented angle motors with stops, but the stops do
not work.  The joints continue rotating in one directions, like
wheels on axles.  Any advice?

Tom Ray

----

#define PI 3.141529654f
dBodyID  body;
dJointID motor;

...

motor = dJointCreateAMotor(world, 0);
dJointAttach(motor, body, Seg2.body);
dJointSetAMotorMode(motor, dAMotorUser);
dJointSetAMotorNumAxes(motor, 3);

dBodyGetRelPointPos(body, 1, 0, 0, xyzNRF);
dJointSetAMotorAxis (motor, 0, 2, xyzNRF[0], xyzNRF[1], xyzNRF[2]);
dBodyGetRelPointPos(body, 0, 1, 0, xyzNRF);
dJointSetAMotorAxis (motor, 1, 2, xyzNRF[0], xyzNRF[1], xyzNRF[2]);
dBodyGetRelPointPos(body, 0, 0, 1, xyzNRF);
dJointSetAMotorAxis (motor, 2, 2, xyzNRF[0], xyzNRF[1], xyzNRF[2]);

dJointSetAMotorParam (motor, dParamLoStop,  -PI / 20);
dJointSetAMotorParam (motor, dParamLoStop2, -PI / 20);
dJointSetAMotorParam (motor, dParamLoStop3, -PI / 20);
dJointSetAMotorParam (motor, dParamHiStop,  PI / 20);
dJointSetAMotorParam (motor, dParamHiStop2, PI / 20);
dJointSetAMotorParam (motor, dParamHiStop3, PI / 20);