[ODE] Damping

[james at 6msoft.com]

Joe,

I see what you are saying so I will compared the results of your method to
mine, but do not believe the constraint system has issue with damping
velocities directly. After already using my method for a couple days, I
have only seen an increase in joint stability (fewer explosions and so
forth), and this is on 50 joint rag-dolls and rigid body cloth (as seen in
the Rocket demos), so I like to think I put it through the extremes
already.

-James.