[ODE] What can make a U-Joint "stiff" vs "loose"?

[Megan Fox]

By stiff or loose, I mean willingness to rotate in a full 360 arc when
bent in half.  That is - take a ujoint with poles attached to either
side, grab one and point it straight up, then grab the other and take
it in a full 360 degree arc without turning the first pole at all. 
The looser the joint, the easier this operation is.  (assume the stops
are set to +/- pi/2)

The reason I ask is because I've got a case in my code where, if I
create my joint on "startup" (that is, when the phys representation of
the entity is being created the first time), the joint I end up with
is loose, but joints created "runtime" end up extremely stiff.

I'm setting CFM, StopCFM/StopERP, and joint bounciess to specific
(what should be the defaults - assuming joint values for these match
what the desired world defaults are?) values in each case, and am
generally at a loss for what else could be different between case A
and B.


Note that there is no simulation step actually happening between
startup and when the joint created - the only difference is:

- in "startup creation", I create the primary phys body, create the
joint attached to the body, then create the geoms for both bodies

- in "runtime creation", I create the primary phys body, attach geoms
to the primary phys body, finalize everything else as far as the
primary phys body is concerned (mass, etc), and THEN I create the
second jointed body and THEN attach a geom.


In my case, I get a "loose" joint in startup creation, and a "stiff"
joint in runtime creation.

Thanks,
-Megan Fox