dCustomHinge: Using angle limits with EnableMotor()

[misho]

Hi everyone,

I am trying to impose angle limits on a hinge joint, while at the same time using EnableMotor() functionality. Separately, both features work: If I enable angle limits on a free hinge joint, they function properly. But when I use EnableMotor() feature on the joint, the angle limits seem to be ignored.

I was expecting that, when "powered" by EnableMotor(), the joint would stop at the angle limit.

Obviously, one way to have this working is to monitor the angle of the joint, and when the limit is reached, turn off the EnableMotor(), or, reverse its direction, if needed. But I was hoping this functionality would have been already implicitly included in the code.

For the reference, I am experimenting with code in StandardJoints demo in demoSandBox.

Am I missing something?