[ODE] QuickStep solver checked in

[Russ Smith]

hi all,

i've added the quickstep solver to CVS and also regenerated the source
distribution and documentation. look in the docs under the new "world /
stepping functions". there is a significant amount of tweaking left to
do, but this early version should be good for many things.

i've also added a few functions that are useful for solving some
problems that commonly arise when dealing with contacts, see the
"world / contact parameters" section in the docs.

the boxstack demo has been updated to use quickstep, and to pile up to
100 bodies.

the new solver is of course less accurate than the big matrix solver,
and this inaccuracy is manifested in the boxstack demo mainly by
slipping of the contacts. to fix this problem, some contact coherence
code should be written to make sure that sticking contacts actually
stick.

all those volunteers, please post feedback about how the new solver
works for you...

enjoy,

russ.



-- 
Russell Smith
http://www.q12.org