Iterative solver (again) [Was: Re: [ODE] Russ' plans for ODE?]

[Nguyen Binh]

Hi Anton,

A> Internally, global timestep is subdivided into several smaller chunks (but
A> not too much; it was about 3 subdivisions for the box stack with 10ms
A> simulation time step), but no collision detection is performed during these
A> substeps, only existing contacts are used.

   Yes! That is one obvious gain. But it would cause some pain also :
   we might have problem with fast objects. (But we always should
   treat fast objects differently! Should we?)

-- 
Best regards,

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   Nguyen Binh
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