[ODE] CFM and timesteps

[amundbørsand]

whitt013 <whitt013@bama.ua.edu> skreiv:

> Methods of resolving collisions the step before they happen have been
> discussed on the list, but were dropped because they would basically entail
> simulating the next timestep, then rewinding to the point of the first contact
> and resimulating, until all contacts were resolved with depth 0.....  Pretty
> expensive operation if you have a bunch of wheels (for instance) on the
> ground.

Aha, I see. Well, it seem to work just fine the way it is; if it's not
broken, don't fix it! =)
 
> Here's my suggestion: keep the same calculations you have now, but keep up
> with the previous timestep as well, then do something like:
> desiredTimeStep = currentTime - prevTime;
> prevTimeStep = prevTimeStep + (desiredTimeStep - prevTimeStep) / 10;
> dWorldStep(prevTimeStep);

Yep, good point, I thought of that myself, but haven't gotten there yet,
or had any problems with colliding and stuff, my car is still alone in
there! ;)