[ODE] multiple contacts and sticking on the cusp

[David McClurg]

This is a multi-part message in MIME format.

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i've found that i need to combine contacts when sphere bodies roll from =
one static geom to another.  to understand the problem, let me show you =
an example...

attached is a modified version of test_boxstack.cpp.  hit the 's' key to =
drop a sphere and watch what happens.  see how it sticks on the cusp =
between the ramp and the ground plane?

that is kind of weird.  it happens when spheres are rolling over boxes, =
planes, or meshes.  it can even happen if you embed a ccylinder into the =
ground and roll up next to it.  you will stick for a while before you =
can pull yourself away from the ccylinder.

is this expected or is it a bug?  if it is expected, perhaps it should =
automatically be handled because it is so common to run up against.  =
erwin handles it within a single tri-list by merging the contacts into a =
single contact.  but you need to do this on a higher level as well =
between different trilists, boxes, and planes.

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