# [ODE] Erratum Hinge2 lo-hi limits

LR logreg at free.fr
Thu May 3 01:38:00 MST 2007

```Erratum of my 2 last mails :

When axis limit is near 180° (for exemple 178°) , and axis rotation is about
720°/s, limits are not applyed.

For exemple limit is +-178° , the normal comportment is :
timestep 0 : axis angle is 177°
timestep 1 : axis angle is after 178° --> limit blocks the axis to 178 °

The current comportment:
timestep 0 : axis angle is 177°
timestep 1 : axis angle is after 178°
--> limit does not blocks the axis because current angle is 181°,
--> 181° modulo -PI, PI = -179°
--> -179° is not >= hi limit !!!!!!!!!!!!!!

if i use limits lo=-176° hi=+176° all is fine ...
if i use limits lo=-177° hi=+177° limits are applyed sometimes
if i use limits lo=-178° hi=+178° limits are quazy never applyed

my time step in 10 ms. 720°/s / 100 = 7.2° -> that match with -176°, + 176°

I've tested with hinge2 and universal vertical axis.

LR
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