[ODE] PSCL implemented in Rocket

[Jon Watte]

> To be quite honest, this was documented in the documentation for 
> dWorldStep(), with the suggestion that dWorldStepFast didn't suffer 
> from the problem :-)

Oops, non-sequiteur ;-)

STACK size being the problem, this is still documented in the 
documentation. Bump up the default Windows stack size, or use 
one of the alloca replacements.

I really think ODE should make those replacements the default, 
and make dWorldQuickStep() the default stepper, to make most 
of the common complaints about ODE behavior go away. Document 
the others in an appendix somewhere, so newcomers don't 
accidentally run into them.

Cheers,

			/ h+