[ODE] Contact cache optimization

[Billy Zelsnack]

 >I added a simple test to ignore any collisions that were already 
cached with
 >identical object pairs and primary contact depths, and that
eliminated 
the
 >contact-cache thrashing nicely without appearing to cause any
unwanted 
effects.

Just depths and not normals too? Maybe it is they way I wrapped ODE,
but 
it seems like the box-box contact generation is not very continuous. By

that I mean contact normals flip back and forth between who is the
owner 
for a pair. This is most obvious as a pair starts to rest together. I 
would guess this makes tolerance based caching much more difficult and 

I bet it also makes the solver work harder too.

-billy


		
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