/* apply a adjustment to keep velocity at joint 0 */
#if 0
v3f wcb, vcb;
m3x3_mulv( st->rbb->to_world, pc->lcb, wcb );
v3_cross( torque, wcb, vcb );
/* apply a adjustment to keep velocity at joint 0 */
#if 0
v3f wcb, vcb;
m3x3_mulv( st->rbb->to_world, pc->lcb, wcb );
v3_cross( torque, wcb, vcb );