[ODE] Bug in lcp.cpp

[Jeffrey Smith]

Is this code snippet in lcp.cpp correct (specifically, line 1316)?

1314            // apply x = x + s * delta_x
1315            lcp.pC_plusequals_s_times_qC (x,s,delta_x);
1316            x[i] += s * dirf;
1317            
1318            // apply w = w + s * delta_w
1319            lcp.pN_plusequals_s_times_qN (w,s,delta_w);
1320            w[i] += s * delta_w[i];

I don't completely understand what's going on in the optimized LCP solver,
but I am having some troubles with bad LCP solutions and suspect this might
be the cause.

-Jeff