[ODE] collision detection/response without using ODE's collision engine

[SkeedaddIer@aol.com]

Hi,

    Ken - I tried to setting depth to (sphere.z-sphere.radius) since it would 
equal the penetration depth of the sphere against the plane at 0.0f. The 
spheres still pass right thru the plane, no bouncy collision response.

    Figured it would help if you or anyone could look over the code and 
figure out why i'm not getting the right results, so I posted it at:

    www.qlink.org/test_boxstack.txt

    Hope someone can fix this, i'm at wits end trying to figure out the 
basics so I can build on from there. Thanks in advance!