[ODE] AMotors in Euler mode

["Francisco J. Parreño Fernández"]

Hi!

Well, I need to know the angle between bodies that are attached by an 
amotor. If I use an amotor with euler mode, this information is very 
easy to get (dJointGetAMotorAngle), isn't?

My problem is that I don't know how I define the amotor. I don't 
understand how it works and I need help. I have two bodies joined with a 
ball and socket joint and an amotor. How can I do for moving second body 
along the Y axis?

If somebody knows where there are documentation about this, please send 
me the link.

Thank you very much! See you!