[ODE] Joint with two skew, non-perpendicular axes

[Holger Urbanek]

In our simulation we need a joint with two skew, non-perpendicular
axes with agular limitation on both of them. How could something like
this be done?

Using two hinge-joints with a almost zero-mass body to connect them is
no alternative, as it introduces quite an amount of nummerical
instabilities.

If it needs a rewriting of joints.cpp, perhaps somebody has already done this?


Thanks, 
Holger