[ODE] ragdoll and muscle's

[Krystian Ligenza]

> I did sone experiments with spring like muscles:
> http://jwstolk.xs4all.nl/wisse/main4.c
> It's not done using ODE. my program reads the angle position of all
> joints, then computes a muscle torqe using the spring formula (and
> dampening) and then sets tis torqe in ODE, then runs the next ODE
> simulation step.

look ok, thanks for sharing.
I see that you use universla with hinge joint. Have you got any problems 
with this solution? As for now I have been using univesal only, but I need 
to change it. Did you tried to use ball with AMotor joint to apply limits?

Thanks
KxL