the order of iteration

Hi,

I have two versions of some code for a simple robot 'spine'. One encapsulates a UniversalJoint and its controller within my 'jointController' class, the other uses UniversalJoints direct from the spine multibody. Apart from this they are the same. But they have very different behaviours. I can't quite see why this should be so, unless it is something to do with the order of iteration. The desired behaviour only occurs with the encapsulated joint-controllers. But i need to know why this occurs to understand why the behaviour works.

Cheers,

Nick