[ODE] How to reach desired velocity in one step

[Jan Ruzarovsky (jonatan)]

Hi,

I have found following answer in FAQ Wiki section:
---------------
The preferred method of setting body velocities during 
the simulation is to use joint motors. They can set 
body velocities to a desired value in one time step, 
provided that the force/torque limit is high enough.
---------------

What does it mean exactly?
I use capsule to approximate avatar. Capsule is 
attached to AMOTOR joint that helps to keep it upright.

How can I set avatar to desired speed (according the 
answer above)? 
Avatar should respond to user input quickly.
All I can get now is that the avatar reaches desired 
speed in few seconds (by adding force to body), which 
is not suitable for dynamic game play.

Some source code fragment would be helpful.

Thank you

jonatan

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