[ODE] Brakes and rotational damping

[Matthew Harmon]

> 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.

Thanks so much for the help.  And sorry for one more question, but I guess
this is where my math gets weak :-(

To do this "perfectly" wouldn't I need to understand the same integration
proccess ODE is using so I can calculate the correct torque for that
timestep?  Or do you think it would be good enough just to use a Euler
method to calculate what the counter-torque would need to be.

Thanks again!

Matt