[ODE] Inverse Dynamics in ODE -- does it takemorecomputationthanjust pure forward dynamics?

[Jon Watte]

> Or how about requiring both values to be set in the same call - then you can 
> assert right there and then if they're invalid (and nothing 'silent' needs 
> to be doc'ed).

I wanted that, too, but the problem is that the current joint parameter 
API doesn't allow you to set multiple parameters at the same time -- and 
if we kept the API that let you set one of them, surely people would 
still use it to punch large, bleeding holes in their feet.

Cheers,

			/ h+