Bike Balancing!

I'm back to writing motor-bike physics again and scratching my head over 
the best way to get the bike to balance. So I'm wondering if any of you 
fine people on the ode lists have an idea on how to approach this?

I've used an amotor joint previously to balance the bike, but this 
caused some weird issues with the tire model I had written. Also, the 
motor of course only rotated the body around its COM causing the wheels 
to slide back and forth lateraly. when what i want is the bike to pivot 
at the contact points of the wheels.

So can anybody reccomend another method of artificially balancing a bike 
in ODE?  Is there some sort of joint that I've previously overlooked 
that will to the job?  I have a feeling that none of the joints are 
suited to this task, and will have to apply a "push" force above the COM 
but I'm, scratching my head with this concept also. 

So are there any suggestions? Any books/articles I should perhaps take a 
look at?



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