[ODE] Coincidental contacts

[Nguyen Binh]

>> Coincidental contacts produce problems for the LCP solver.

RS> the problem is not specific to the LCP solver: if you have coincidental
RS> contacts where the normals also point in the same direction then the
RS> system becomes closer to singular, which is to say that it's harder for
RS> the factorizer to determine a unique solution. you can try increasing
RS> CFM - but a better solution is to not generate the redundant contacts in
RS> the first place.

    Case study: in Capped Cylinder - Trimesh, I could safely filter
    out about 30% of contacts, i.e about 30% of "raw" contacts are
    redundant. So definitely, a small filter apply to list of raw
    contacts will help.

-- 
Best regards,

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   Nguyen Binh
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