[ODE] AMotor velocites vs. rigid body torques?

[Bob Prog]

Hello,

I am trying to use ODE to build a model of a walking biped.  I was going to 
apply torques directly to the rigid bodies (using dBodyAddTorque).  But 
someone I know who has some experience with ODE suggested that I use AMotors 
instead, setting the AMotor velocity and FMax parameters to perform motion.

Could someone please tell me which approach is better, and why?  Or even if 
there is a better approach than this?

Sincerely,
Bob

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