Index: ode.c
===================================================================
--- ode.c	(revision 559)
+++ ode.c	(revision 560)
@@ -1729,7 +1729,7 @@
 	f=dJointSetHinge2Param;
 	break;
     case dJointTypeHinge:
-	f=dJointSetHingeParam;
+	f=dJointSetHingeParam; // must check, maybe it just works for hinge2 !
 	break;
     default: raydium_log("ODE: ERROR: suspension: joint type not supported!");
     }
@@ -2167,6 +2167,13 @@
 		SetParam=dJointSetHingeParam;
 		GetAngle=dJointGetHingeAngle;
 		break;
+	    case dJointTypeUniversal:
+		SetParam=dJointSetUniversalParam;
+		if(raydium_ode_motor[j].joints_axe[i]==0)
+		    GetAngle=dJointGetUniversalAngle1;
+		else
+		    GetAngle=dJointGetUniversalAngle2;
+		break;
 	    default:
 		cancel=1;
 		raydium_log("ODE: Motor: Invalid joint type (%s, motor is %s)",raydium_ode_joint[raydium_ode_motor[j].joints[i]].name,raydium_ode_motor[j].name);