[ODE] Collision impact force

[Adam D. Moss]

Adam Dershowitz wrote:
> It is somewhat physical.  When two things that are "springy" collide, then
> the penetration depth is directly related to the impact force.

Well, vaguely... the *upper bound* of the penetration depth is
related to a few useful things that stop this approximation
being too lousy, but the actual penetration depth you see will be
somewhere between zero and this figure depending on timestep, luck,
ERP, phases of the moon, etc.

--Adam
-- 
Adam D. Moss   . ,,^^   adam at gimp.org   http://www.foxbox.org/   co:3
"... so make sure your illness is early in the financial year."