[ODE] stepfast beta 2

[Shaul Kedem]

David,

> I'm not sure what you mean by "the bigger boxes are
> dragged by the smaller
> ones" 

I mean I actually saw boxes which are 10 times the
size of the "smaller ones" being dragged by the
smaller ones. I think its because the contact point
between the two boxes is being accounted for, while
the contact with the ground being calculated later, so
the bigger box "rides" the smaller box a couple of
units.

Best,
Shaul

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