[ODE] iterative solver: testing needed

[Gary R. Van Sickle]

> Just ran a quick test, throwing a bunch of spheres around my heightfield.
> First impressions - wow.  In situations where loads of spheres are touching
> one another (not as kinky as it sounds), the original solver usually kills
> my renderer to below 1fps.  The iterative solver with the recommended 5
> steps runs the same (i can't spot any visual differences), but at a
> beautiful 50fps.  Way to go Dave!
>

GREAT CAESAR'S GHOST!  That is INSANE!  WOOOOOOOOOOOOO!!!!!!!  Somebody call Tom
Brokaw, this is the news of the CENTURY!  Dave is the coolest, Dave is the
coolest, Dave is the (well you get the idea)!

Seriously, is this a publish-worthy result, or have I just not seen the right
papers?

> I had a quick play with test_crash, and I see a problem where the buggy is
> slowly moving right from the outset with Dave's solver, whilst it stops
> completely with the original (as it should).  I can toggle between those
> behaviours.  This is before any input has been applied.

Details, schmetails!  <1fps ==> 50fps!  Bother me tomorrow, today I'll buy no
sorrow! ;-)

--
Gary R. Van Sickle
Brewer.  Patriot.