[ODE] stepfast beta 2

[Adam D. Moss]

David Whittaker wrote:
> 1) changed to dWorldID
> 2) commented #define TIMING
> 3) switched back to LCP solver... sadly, this means there's a bug in my
> factoring algorithm somewhere :(

That fixed all of my observed problems!  Thanks!

--Adam
-- 
Adam D. Moss   . ,,^^   adam@gimp.org   http://www.foxbox.org/   co:3
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