Added a PidConrol to the GUI and started adding it to the prismatic joint. Still needs to be finished.
I thought I had the assist motor working for the hinge. It works on frozen parts. However, when I tried it on freely moving parts on the ground it failed badly. I need to go back and re-evaluate to see about using torques again instead of forces.
turning off the PID assist for hinge joints. It simply does not work. For the moment I am giving up on this. The initial rollout of the bullet code will just require additional substeps to work. This will be slower, but there is no help for it. I will need to look into using featherstone solver for a future bullet revision to fix this problem.