[ODE] iterative solver: testing needed

[david@csworkbench.com]

>> 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?

All I did was re-arrange Russ's code in the order Sergi proposed.  The
only "advance" is the simpler solution for LCP, and that would probably be
considered an "incorrect" solution by anyone that would read a paper :)
But it works.

>> 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! ;-)

Ah, but details are the arch-enemy of all approximation-based algorithms. 
The enemy must be defeated.

> --
> Gary R. Van Sickle
> Brewer.  Patriot.
>
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