fudge free and range motor options

Issue #4 new
Daniel K. O. created an issue

If the fudge_factor is set to be negative, the limit-motors will create an extra constraint row when the joint is simultaneously powered and limited instead of applying fudge forces. The target motor velocity can be set to a range: hi_vel, lo_vel. The motors will then create LCP constraint rows that use up to fmax to slow the joint to hi_vel and up to fmax to speedup the joint to lo_vel.

(submitted by Joseph Cooper)

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