[ODE] Singularity on 2nd axis of angular motors

[Brad]

There's a singularity at +/- pi/2 on the second axis of euler angle mode 
angular motors. So joint stops have to be created to prevent these 
angles from being reached, which really limits the usefullness of 
angular motors.

Is there any way to get around this singularity? Maybe an alternate way 
of calculating the angles? I looked at the code in 
amotorComputeEulerAngles() but I couldn't get my head around the math.