[ODE] bug in amotorComputeGlobalAxes

[Jon Watte]

> I'm a bit confused about why this would change anything at all.
> The existing code is:

       if (joint->rel[i] == 1) {
	// relative to b1
	dMULTIPLY0_331 (ax[i],joint->node[0].body->R,joint->axis[i]);
       }
       if (joint->rel[i] == 2) {
	// relative to b2
	if (joint->node[1].body) {   // jds: don't assert, just ignore
	dMULTIPLY0_331 (ax[i],joint->node[1].body->R,joint->axis[i]);
       }


You're forgetting the "else" right after the second if(). So, 
when joint->rel[i] == 1, it would run the first if(), then it 
wouldn't run the second if(), but the else{} of that second if(), 
which clobbers the output of the first if() block.

Cheers,

			/ h+