[ODE] multiple contacts and sticking on the cusp

[Russ Smith]

> Since many people simply take the examples and change what they need to
> change, and don't change anything they don't understand; and since the
> difference between the two friction models is subtle, should the examples
> be changed to use dContactApprox1?  For that matter, should it be the
> default friction model?  At the very least, when discussing contact
> parameters in the manual, should it say "if you don't know which friction
> model to use, start with dContactApprox1?"

probably you're right. in fact, there needs to be a lot more written about
the friction models in general. i'm reluctant to made dContactApprox1 the
default, as this will break people's code in subtle ways - there are now
enough users of ODE that breaking the API is kind of an anti-social thing
to do unless there is a good reason.

i changed the buggy example, since that's the basis for a lot of people's
vehicles. i may change the other examples too, but i'll try them out first
to see what effect the change has.

russ.

--
Russ Smith
http://www.q12.org/