[ODE] wobbling hinged door

[Arturo Colorado Garín]

> I've thought about fixing this by resetting the body rotation (only the 
> 'fixed' axii) after the simulation step, but isn't it possible to let the 
> joint error correction mechanism take care of this? How can I do this 
> without changing the world ERP/CFM and thus affecting the way other 
> objects behave (I only want it to apply to the hinge joints)? The 
> documentation mentions that these parameters can be set for joints 
> individually at some point, but I haven't been able to find out how 
> exactly.

Take a look at the function dJointSetHingeParam() and parameter dParamCFM. 
It's in the section "7.5.1 Parameter Functions" of the documentation.

Hope this helps,
Arturo.