[ODE] bug in amotorComputeGlobalAxes

[Geoff Carlton]

Hi,
I've just noticed the relative-to-body1 mode in AMotor doesn't work, due 
to a bug in amotorComputeGlobalAxes.  I don't have write access to cvs, 
but here is the patch if somebody wants apply the fix:

@@ -2301,20 +2301,20 @@
     // relative to b1
     dMULTIPLY0_331 (ax[i],joint->node[0].body->R,joint->axis[i]);
       }
-      if (joint->rel[i] == 2) {
+      else if (joint->rel[i] == 2) {
     // relative to b2
     if (joint->node[1].body) {   // jds: don't assert, just ignore
     dMULTIPLY0_331 (ax[i],joint->node[1].body->R,joint->axis[i]);