[ODE] Joint torque generated by desired joint velocity (dParamVel) for hinge joint

[Gazi Alankus]

On 30/04/07, Gazi Alankus <alanic at gmail.com> wrote:
[...]
> So, if there is a way that I can actually get what I want, any
> direction would be very helpful. I'm thinking about using the
> projection of the torque on the joint axis and giving it a try. Do you
> think it would be accurate?

My motivation was that probably the torques to keep the joint together
wouldn't be around the joint axis because they make the joint actuate.
But when I played with it I realized that I neglected the torque to
keep the current angle, which would be around the axis. So I'm
starting to lose hope. Is there anybody who knows ODE internals and
can tell me whether I can isolate the effect of vel here:
info->c[row] = vel; (joint.cpp:523)
in the simulation as a torque?

PS. My line numbers may be slightly off, I have edited the ode source a bit.

-Gazi