[ODE] custom universal anchor constraint

[Jason Mallios]

Is it possible to set CFM and ERP values for the anchor alone in a universal
joint?  I have tuned values for the axes but would like to harden the
constraint that prevents the anchor's position on the two bodies from
separating.  In other words, I want to constrain the translational degree of
freedom differently than the rotational degrees.
 
Would adding a ball joint to the same bodies (in addition to the universal)
be a solution or would ODE optimize this out?
 
Would it be more or less stable and more or less accurate to simply add
spring / damper forces to the bodies' relative anchor positions when they
separate since this avoids another entry in the jacobian?
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