[ODE] question about dJointGetFeedback?

[Kay]

Hello, all:

I am trying to interpret the torques read back by dJointGetFeedback from a hinge joint. Is the torque in world coordinates? What if I want just the torque around the hinge axis? Do I just transform the hinge axis(get from dJointGetHingeAxis) to world and then project the torque onto that axis? After I tried everything, the torque is still sometimes larger than the limit I set by dJointSetHingeParam(joint,dParamFMax); Any idea what might be wrong?

thanks a lot,
-Kay
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