[ODE] patch: auto-disable implemented

[Aras Pranckevicius]

> This looks like it applies the same numerical threshold to
> both linear and angular velocities.  That seems a bit doomed,
> since their ranges are likely to be quite different (the desired
> angular velocity damping threshold for practical purposes  is
> related to the radius of a geom from its centre of mass).  Should
> be easy to fix though -- just add another threshold to dxBody
> (at the cost of another dReal).

I've just implemented them guided by David's StefFast docs :)
BTW, where's David? Seems just like he disappeared at the moment of
nearly-completing StepFast...


Aras Pranckevicius aka NeARAZ
http://www.gim.ktu.lt/nesnausk/nearaz/