[ODE] Brakes and rotational damping

[Jon Watte (ODE)]

> for heat build-up and material properties which I am not modeling.)  So,
> instead, we apply a constant counter-torque (scaled by brake pressure) and
> check for reversal... i.e. brakes are locked.  I didn’t really see another
> way around that, but would love some other ideas.  It always feels wrong
> when checking for sign reversal, etc.

You know the step size, the mass, and the angular velocity. You should 
be able to very easily calculate what the maximum torque you could apply 
would be, and clamp the counter-torque before you apply it.

Cheers,

			/ h+