[ODE] Amotor Help

[Gene Ruebsamen]

Hello Everyone,

Does anyone know of a simple/effective way to get the Angular Velocity
in an Amotor or Ball & Socket joint?

I noticed in ODE 0.03 and the CVS version, the function:

dJointGetAMotorAnagleRate(dJointID, int anum)

is not yet implemented. Anyone have any work-arounds for this?  The only
one I can think of is to replace the ball & socket joint with two hinge
joints with perpendicular axis and calling dJointGetHingeAngleRate on
the two hinge joints; however, that does not fully replicate the
functionality of the ball & socket/amotor joint combo.

Any help would greatly be appreciated...

Thank You,

Gene Ruebsamen