[ODE] Universal joint

[LR]

Re- hi,
 
in the documentation i can read :
 
void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z);
void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z);

Set universal anchor and axis parameters. Axis 1 and axis 2 should be
perpendicular to each other. 
 
 
- is it : Axis 1 and axis 2 SHOULD be perpendicular to each other
 
 OR
 
- is it : Axis 1 and axis 2 MUST be perpendicular to each other  ?
 
Is it a stability problem if axis are not perpendicular ?
 
thank you
 
Laurent.
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