[ODE] Piled objects

[Richard Lee]

I'm planning on using ODE for a few of my projects but after compiling the 
example programs last night I was disappointed by the buggy behavior in the 
piled objects demo.

Frequently when stacked boxes should come to rest they continue to jitter 
about and act strangely. From experience, MathEngine has similar problems (no 
wonder!), but Havok and the original Ipion demos don't exhibit these problems. 
Objects come to rest and remain perfectly still as and when you would expect.

Will this improve in ODE in the future?
Is there ways to improve it now?

Thanks,
Richard