Solution to RE: RE: [ODE] Implementing genuine Coulomb friction

[Thomas Harte]

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>Why not make sure that's the case and contribute the code?  Make it selectable
>somehow, and I can't see why Russ wouldn't accept it.

I have come up with a solution of particular simplicity. For a friction cone, I work out the 
direction (perpendicular to the contact constraint normal) of body motion, and simply set 
that as fdir1. The principle costs of which are one cross product, two dot products and a 
sqrt.

If mu and mu2 are in use, I use a friction oval, which means doing exactly the same as 
before, but this time working out mu as the distance from the centre to the boundary of 
the oval if heading along fdir. This costs another sqrt.

To me, these seem like good solutions. Are they?

-Thomas

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