[ODE] Negative penetration depths

[Thomas Harte]

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I have yet another question regarding my continuing efforts to perfect mesh on mesh 
collisions within my project.

In some cases I know that a particular contact will occur within the next time step, but it 
has not yet. I also know that less error will occur within my simulation if I am able to 
preemptively add the contact constraint.

Therefore my question is, what should I put for penetration depth under such a case? If I 
put in a negative value, will ODE see that no penalty need be applied, or will it such my 
bodies together? If I set penetration depth to 0, will that cause ODE not to do any 
penalty stuff?

-Thomas
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