[ODE] Turning off joint limits

[Sergio Casas Yrurzum]

Hi everybody,

I'm working with the buggy demo and I have a question about joint limits.

The point is that I need to be able to disable joint limits in the hinge2
front wheel in order to create a TOTALLY free steering wheel, but I can't.

As far as I know, a joint limit can be disabled by setting both low and high
stop limits to
-dInfinity and +dInfinity respectively, but, if I do that, the front wheel
starts to behave in a weird way if the steering angle reaches +pi (+180)
or -pi (-180).

The only thing you should do to understand what I say is replace the next
two lines of test_buggy.cpp

    dJointSetHinge2Param (joint[0],dParamLoStop,-0.75);
    dJointSetHinge2Param (joint[0],dParamHiStop,0.75);

with:

    dJointSetHinge2Param (joint[0],dParamLoStop,-dInfinity);
    dJointSetHinge2Param (joint[0],dParamHiStop,dInfinity);


I need the wheel to rotate more than 360 degrees in the same direction.
What can I do to create a totally free steering wheel?

Any help would be very much appreciated. Thanks in advance.