[ODE] small-large timestep problem

[nlin@nlin.net]

Russ Smith wrote:
> in the small-large
> timestep case it fails, because the velocity correction is timestep
> dependent (i.e. the small velocity correction calculated during the
> small timestep becomes a much-too-large correction during the large
> timestep). there is a good fix for this problem, which i will
> eventually add to ODE (as time permits). there'll be a dWorld switch
> to turn it on, as there is a slight performance cost.

Could you describe in more detail what this "good fix" does? You've
piqued my interest...

-Norman