joode jointhinge velocity

[jlev]

Is dJointGetHingeAngleRate implemented in Joode? It would be useful for me to be able to get the actual rate of the joint, not just the rate commanded by the limot. Addditionally, having an implementation of the universal joint would be really helpful. I know I can attach two hinges to an interstitial joint, but then I have to deal with corner rubbing and maked sure there's enough clearance for rotation. That makes my model physically unrealistic, and I'd like the dimensions to be as close as possible to the real world. Thanks,

- Josh