[ODE] Cycle time 0.0

[Devrim Erdem]

Hello,

I have encountered a problem and I would like to share the experience, 
as I think ODE shall be more tolerant to such user mistakes.

I have seen that if a value of 0.0 is provided to dWorldStep in the 
first iteration, even other values such as 0.05 are provided in the next 
iterations, the action doesn't start in the buggy demo. To demonstrate 
the issue, I have modified the buggy demo as follows :

Replace line
    dWorldStep (world,0.05);

with
   
    {
        static int firstTime = 0 ;

        if ( firstTime == 0 )
        {
            dWorldStep (world,0.0f);
            firstTime = 1 ;
        }
        else
            dWorldStep (world,0.05);
    }

Regards,

Devrim.