[ODE] bug in amotorComputeGlobalAxes

[John Miles]

> You're forgetting the "else" right after the second if(). So,
> when joint->rel[i] == 1, it would run the first if(), then it
> wouldn't run the second if(), but the else{} of that second if(),
> which clobbers the output of the first if() block.

Heh.  Now that the compiler-warning flamewar has died down, anybody up for a
good old-fashioned "K&R Considered Harmful" debate?

I'll start: Code that cannot be read by humans does not work.  Line up your
?!#**&% brackets, dammit.

-- jm