[ODE] motor stops don't work

[ray@his.atr.co.jp]

ODE:

I want to thank slipch and Martin for responding.  I had already
set the FMax parameter > 0.  At slipch's suggestion, I tried to
solve the problem with dJointSetAMotorAngle(), but it still
doesn't work.  I attach a more complete code sample below.

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 joint;
dJointID motor;

...

joint = dJointCreateBall (world, 0);
dJointAttach(joint, Seg2.body, body);
dJointSetBallAnchor (joint, xyzNRF[0], xyzNRF[1], xyzNRF[2]);

...

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]);

dJointSetAMotorAngle (motor, 0, 0.0f);
dJointSetAMotorAngle (motor, 1, 0.0f);
dJointSetAMotorAngle (motor, 2, 0.0f);

dJointSetAMotorParam (motor, dParamFMax,  PI);
dJointSetAMotorParam (motor, dParamFMax2, PI);
dJointSetAMotorParam (motor, dParamFMax3, PI);
dJointSetAMotorParam (motor, dParamCFM,  CFM);
dJointSetAMotorParam (motor, dParamCFM2, CFM);
dJointSetAMotorParam (motor, dParamCFM3, CFM);
dJointSetAMotorParam (motor, dParamStopCFM,  CFM);
dJointSetAMotorParam (motor, dParamStopCFM2, CFM);
dJointSetAMotorParam (motor, dParamStopCFM3, CFM);
dJointSetAMotorParam (motor, dParamStopERP,  ERP);
dJointSetAMotorParam (motor, dParamStopERP2, ERP);
dJointSetAMotorParam (motor, dParamStopERP3, ERP);
dJointSetAMotorParam (motor, dParamLoStop,  -PI / 4.f);
dJointSetAMotorParam (motor, dParamLoStop2, -PI / 4.f);
dJointSetAMotorParam (motor, dParamLoStop3, -PI / 4.f);
dJointSetAMotorParam (motor, dParamHiStop,   PI / 4.f);
dJointSetAMotorParam (motor, dParamHiStop2,  PI / 4.f);
dJointSetAMotorParam (motor, dParamHiStop3,  PI / 4.f);